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Rename from "public state" to "persistent ID"

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- NAV_PUBLIC_STATE_* -> NAV_PERSISTENT_ID_*
- .publicState -> .persistentId
- .navPublicState -> .navPersistentId
This commit is contained in:
Alberto García Hierro 2018-05-30 21:15:39 +01:00
parent 48a05476a8
commit db31090a1f
2 changed files with 59 additions and 59 deletions
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54
src/main/navigation/navigation.c
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@ -212,7 +212,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS(navi
static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** Idle state ******************************************************/ /** Idle state ******************************************************/
[NAV_STATE_IDLE] = { [NAV_STATE_IDLE] = {
.publicState = NAV_PUBLIC_STATE_IDLE, .persistentId = NAV_PERSISTENT_ID_IDLE,
.onEntry = navOnEnteringState_NAV_STATE_IDLE, .onEntry = navOnEnteringState_NAV_STATE_IDLE,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = 0, .stateFlags = 0,
@ -231,7 +231,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** ALTHOLD mode ***************************************************/ /** ALTHOLD mode ***************************************************/
[NAV_STATE_ALTHOLD_INITIALIZE] = { [NAV_STATE_ALTHOLD_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_ALTHOLD_INITIALIZE, .persistentId = NAV_PERSISTENT_ID_ALTHOLD_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE, .onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT, .stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT,
@ -246,7 +246,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_ALTHOLD_IN_PROGRESS] = { [NAV_STATE_ALTHOLD_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_ALTHOLD_IN_PROGRESS, .persistentId = NAV_PERSISTENT_ID_ALTHOLD_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS, .onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT | NAV_RC_ALT, .stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT | NAV_RC_ALT,
@ -265,7 +265,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** POSHOLD_3D mode ************************************************/ /** POSHOLD_3D mode ************************************************/
[NAV_STATE_POSHOLD_3D_INITIALIZE] = { [NAV_STATE_POSHOLD_3D_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_POSHOLD_3D_INITIALIZE, .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE, .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
@ -280,7 +280,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_POSHOLD_3D_IN_PROGRESS] = { [NAV_STATE_POSHOLD_3D_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_POSHOLD_3D_IN_PROGRESS, .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS, .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
@ -299,7 +299,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** RTH_3D mode ************************************************/ /** RTH_3D mode ************************************************/
[NAV_STATE_RTH_INITIALIZE] = { [NAV_STATE_RTH_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_RTH_INITIALIZE, .persistentId = NAV_PERSISTENT_ID_RTH_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_RTH_INITIALIZE, .onEntry = navOnEnteringState_NAV_STATE_RTH_INITIALIZE,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
@ -316,7 +316,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_RTH_CLIMB_TO_SAFE_ALT] = { [NAV_STATE_RTH_CLIMB_TO_SAFE_ALT] = {
.publicState = NAV_PUBLIC_STATE_RTH_CLIMB_TO_SAFE_ALT, .persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
.onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT, .onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, // allow pos adjustment while climbind to safe alt .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, // allow pos adjustment while climbind to safe alt
@ -333,7 +333,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_RTH_HEAD_HOME] = { [NAV_STATE_RTH_HEAD_HOME] = {
.publicState = NAV_PUBLIC_STATE_RTH_HEAD_HOME, .persistentId = NAV_PERSISTENT_ID_RTH_HEAD_HOME,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME, .onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
@ -351,7 +351,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING] = { [NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING] = {
.publicState = NAV_PUBLIC_STATE_RTH_HOVER_PRIOR_TO_LANDING, .persistentId = NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING, .onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
.timeoutMs = 500, .timeoutMs = 500,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
@ -369,7 +369,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_RTH_LANDING] = { [NAV_STATE_RTH_LANDING] = {
.publicState = NAV_PUBLIC_STATE_RTH_LANDING, .persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING, .onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
@ -387,7 +387,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_RTH_FINISHING] = { [NAV_STATE_RTH_FINISHING] = {
.publicState = NAV_PUBLIC_STATE_RTH_FINISHING, .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING, .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
@ -401,7 +401,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_RTH_FINISHED] = { [NAV_STATE_RTH_FINISHED] = {
.publicState = NAV_PUBLIC_STATE_RTH_FINISHED, .persistentId = NAV_PERSISTENT_ID_RTH_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHED, .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHED,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
@ -419,7 +419,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** WAYPOINT mode ************************************************/ /** WAYPOINT mode ************************************************/
[NAV_STATE_WAYPOINT_INITIALIZE] = { [NAV_STATE_WAYPOINT_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_INITIALIZE, .persistentId = NAV_PERSISTENT_ID_WAYPOINT_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -435,7 +435,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_WAYPOINT_PRE_ACTION] = { [NAV_STATE_WAYPOINT_PRE_ACTION] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_PRE_ACTION, .persistentId = NAV_PERSISTENT_ID_WAYPOINT_PRE_ACTION,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -451,7 +451,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_WAYPOINT_IN_PROGRESS] = { [NAV_STATE_WAYPOINT_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_IN_PROGRESS, .persistentId = NAV_PERSISTENT_ID_WAYPOINT_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -470,7 +470,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_WAYPOINT_REACHED] = { [NAV_STATE_WAYPOINT_REACHED] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_REACHED, .persistentId = NAV_PERSISTENT_ID_WAYPOINT_REACHED,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_REACHED, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_REACHED,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -491,7 +491,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_WAYPOINT_RTH_LAND] = { [NAV_STATE_WAYPOINT_RTH_LAND] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_RTH_LAND, .persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -510,7 +510,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_WAYPOINT_NEXT] = { [NAV_STATE_WAYPOINT_NEXT] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_NEXT, .persistentId = NAV_PERSISTENT_ID_WAYPOINT_NEXT,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_NEXT, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_NEXT,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -524,7 +524,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_WAYPOINT_FINISHED] = { [NAV_STATE_WAYPOINT_FINISHED] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_FINISHED, .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED, .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP, .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -542,7 +542,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** EMERGENCY LANDING ************************************************/ /** EMERGENCY LANDING ************************************************/
[NAV_STATE_EMERGENCY_LANDING_INITIALIZE] = { [NAV_STATE_EMERGENCY_LANDING_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_EMERGENCY_LANDING_INITIALIZE, .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE, .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
@ -558,7 +558,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS] = { [NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_EMERGENCY_LANDING_IN_PROGRESS, .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
@ -574,7 +574,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_EMERGENCY_LANDING_FINISHED] = { [NAV_STATE_EMERGENCY_LANDING_FINISHED] = {
.publicState = NAV_PUBLIC_STATE_EMERGENCY_LANDING_FINISHED, .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED, .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE, .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
@ -588,7 +588,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_LAUNCH_INITIALIZE] = { [NAV_STATE_LAUNCH_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_LAUNCH_INITIALIZE, .persistentId = NAV_PERSISTENT_ID_LAUNCH_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE, .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE,
.timeoutMs = 0, .timeoutMs = 0,
.stateFlags = NAV_REQUIRE_ANGLE, .stateFlags = NAV_REQUIRE_ANGLE,
@ -603,7 +603,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_LAUNCH_WAIT] = { [NAV_STATE_LAUNCH_WAIT] = {
.publicState = NAV_PUBLIC_STATE_LAUNCH_WAIT, .persistentId = NAV_PERSISTENT_ID_LAUNCH_WAIT,
.onEntry = navOnEnteringState_NAV_STATE_LAUNCH_WAIT, .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_WAIT,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE, .stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE,
@ -619,7 +619,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
}, },
[NAV_STATE_LAUNCH_IN_PROGRESS] = { [NAV_STATE_LAUNCH_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_LAUNCH_IN_PROGRESS, .persistentId = NAV_PERSISTENT_ID_LAUNCH_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS, .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS,
.timeoutMs = 10, .timeoutMs = 10,
.stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE, .stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE,
@ -1223,7 +1223,7 @@ static navigationFSMState_t navSetNewFSMState(navigationFSMState_t newState)
previousState = posControl.navState; previousState = posControl.navState;
if (posControl.navState != newState) { if (posControl.navState != newState) {
posControl.navState = newState; posControl.navState = newState;
posControl.navPublicState = navFSM[newState].publicState; posControl.navPersistentId = navFSM[newState].persistentId;
} }
return previousState; return previousState;
} }
@ -2552,7 +2552,7 @@ void updateWaypointsAndNavigationMode(void)
switchNavigationFlightModes(); switchNavigationFlightModes();
#if defined(NAV_BLACKBOX) #if defined(NAV_BLACKBOX)
navCurrentState = (int16_t)posControl.navPublicState; navCurrentState = (int16_t)posControl.navPersistentId;
#endif #endif
} }

64
src/main/navigation/navigation_private.h
View file

@ -179,44 +179,44 @@ typedef enum {
// This enum is used to keep values in blackbox logs stable, so we can // This enum is used to keep values in blackbox logs stable, so we can
// freely change navigationFSMState_t. // freely change navigationFSMState_t.
typedef enum { typedef enum {
NAV_PUBLIC_STATE_UNDEFINED = 0, // 0 NAV_PERSISTENT_ID_UNDEFINED = 0, // 0
NAV_PUBLIC_STATE_IDLE, // 1 NAV_PERSISTENT_ID_IDLE, // 1
NAV_PUBLIC_STATE_ALTHOLD_INITIALIZE, // 2 NAV_PERSISTENT_ID_ALTHOLD_INITIALIZE, // 2
NAV_PUBLIC_STATE_ALTHOLD_IN_PROGRESS, // 3 NAV_PERSISTENT_ID_ALTHOLD_IN_PROGRESS, // 3
NAV_PUBLIC_STATE_UNUSED_1, // 4, was NAV_STATE_POSHOLD_2D_INITIALIZE NAV_PERSISTENT_ID_UNUSED_1, // 4, was NAV_STATE_POSHOLD_2D_INITIALIZE
NAV_PUBLIC_STATE_UNUSED_2, // 5, was NAV_STATE_POSHOLD_2D_IN_PROGRESS NAV_PERSISTENT_ID_UNUSED_2, // 5, was NAV_STATE_POSHOLD_2D_IN_PROGRESS
NAV_PUBLIC_STATE_POSHOLD_3D_INITIALIZE, // 6 NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE, // 6
NAV_PUBLIC_STATE_POSHOLD_3D_IN_PROGRESS, // 7 NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS, // 7
NAV_PUBLIC_STATE_RTH_INITIALIZE, // 8 NAV_PERSISTENT_ID_RTH_INITIALIZE, // 8
NAV_PUBLIC_STATE_RTH_CLIMB_TO_SAFE_ALT, // 9 NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT, // 9
NAV_PUBLIC_STATE_RTH_HEAD_HOME, // 10 NAV_PERSISTENT_ID_RTH_HEAD_HOME, // 10
NAV_PUBLIC_STATE_RTH_HOVER_PRIOR_TO_LANDING, // 11 NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING, // 11
NAV_PUBLIC_STATE_RTH_LANDING, // 12 NAV_PERSISTENT_ID_RTH_LANDING, // 12
NAV_PUBLIC_STATE_RTH_FINISHING, // 13 NAV_PERSISTENT_ID_RTH_FINISHING, // 13
NAV_PUBLIC_STATE_RTH_FINISHED, // 14 NAV_PERSISTENT_ID_RTH_FINISHED, // 14
NAV_PUBLIC_STATE_WAYPOINT_INITIALIZE, // 15 NAV_PERSISTENT_ID_WAYPOINT_INITIALIZE, // 15
NAV_PUBLIC_STATE_WAYPOINT_PRE_ACTION, // 16 NAV_PERSISTENT_ID_WAYPOINT_PRE_ACTION, // 16
NAV_PUBLIC_STATE_WAYPOINT_IN_PROGRESS, // 17 NAV_PERSISTENT_ID_WAYPOINT_IN_PROGRESS, // 17
NAV_PUBLIC_STATE_WAYPOINT_REACHED, // 18 NAV_PERSISTENT_ID_WAYPOINT_REACHED, // 18
NAV_PUBLIC_STATE_WAYPOINT_NEXT, // 19 NAV_PERSISTENT_ID_WAYPOINT_NEXT, // 19
NAV_PUBLIC_STATE_WAYPOINT_FINISHED, // 20 NAV_PERSISTENT_ID_WAYPOINT_FINISHED, // 20
NAV_PUBLIC_STATE_WAYPOINT_RTH_LAND, // 21 NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND, // 21
NAV_PUBLIC_STATE_EMERGENCY_LANDING_INITIALIZE, // 22 NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE, // 22
NAV_PUBLIC_STATE_EMERGENCY_LANDING_IN_PROGRESS, // 23 NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS, // 23
NAV_PUBLIC_STATE_EMERGENCY_LANDING_FINISHED, // 24 NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED, // 24
NAV_PUBLIC_STATE_LAUNCH_INITIALIZE, // 25 NAV_PERSISTENT_ID_LAUNCH_INITIALIZE, // 25
NAV_PUBLIC_STATE_LAUNCH_WAIT, // 26 NAV_PERSISTENT_ID_LAUNCH_WAIT, // 26
NAV_PUBLIC_STATE_UNUSED_3, // 27, was NAV_STATE_LAUNCH_MOTOR_DELAY NAV_PERSISTENT_ID_UNUSED_3, // 27, was NAV_STATE_LAUNCH_MOTOR_DELAY
NAV_PUBLIC_STATE_LAUNCH_IN_PROGRESS, // 28 NAV_PERSISTENT_ID_LAUNCH_IN_PROGRESS, // 28
} navigationPublicState_t; } navigationPersistentId_e;
typedef enum { typedef enum {
NAV_STATE_UNDEFINED = 0, NAV_STATE_UNDEFINED = 0,
@ -284,7 +284,7 @@ typedef enum {
} navigationFSMStateFlags_t; } navigationFSMStateFlags_t;
typedef struct { typedef struct {
navigationPublicState_t publicState; navigationPersistentId_e persistentId;
navigationFSMEvent_t (*onEntry)(navigationFSMState_t previousState); navigationFSMEvent_t (*onEntry)(navigationFSMState_t previousState);
uint32_t timeoutMs; uint32_t timeoutMs;
navSystemStatus_State_e mwState; navSystemStatus_State_e mwState;
@ -303,7 +303,7 @@ typedef struct {
typedef struct { typedef struct {
/* Flags and navigation system state */ /* Flags and navigation system state */
navigationFSMState_t navState; navigationFSMState_t navState;
navigationPublicState_t navPublicState; navigationPersistentId_e navPersistentId;
navigationFlags_t flags; navigationFlags_t flags;