Changeset 201 in flair-src for trunk/lib/FlairMeta

Timestamp:

Oct 12, 2017, 9:29:37 AM (7 years ago)

Author:

Sanahuja Guillaume

Message:

put signal event after changing state variable

File:

• trunk/lib/FlairMeta/src/UavStateMachine.cpp (modified) (4 diffs)

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -302 +302 @@
   case AltitudeState_t::Stabilized: {
     if (!altitudeTrajectory->IsRunning() && !flagZTrajectoryFinished) {
+      flagZTrajectoryFinished = true;
       SignalEvent(Event_t::ZTrajectoryFinished);
-      flagZTrajectoryFinished = true;
     }
     if (flagZTrajectoryFinished && desiredTakeoffAltitude->ValueChanged()) {
@@ -479 +479 @@
     groundAltitude = currentAltitude;
     altitudeState = AltitudeState_t::TakingOff;
-
     SignalEvent(Event_t::TakingOff);
   } else {
@@ -498 +497 @@
         joy->SetZRef(0);
         altitudeTrajectory->StartTraj(currentAltitude,desiredLandingAltitude->Value()); //shouldn't it be groundAltitude?
+        altitudeState=AltitudeState_t::StartLanding;
         SignalEvent(Event_t::StartLanding);
-        altitudeState=AltitudeState_t::StartLanding;
     } else if (altitudeState==AltitudeState_t::TakingOff) {
         EmergencyLand();
@@ -553 +552 @@
   uav->GetBldc()->SetEnabled(false);
   uav->GetUavMultiplex()->UnlockUserInterface();
+  altitudeState = AltitudeState_t::Stopped;
   SignalEvent(Event_t::Stopped);
-  altitudeState = AltitudeState_t::Stopped;
   uav->GetAhrs()->UnlockUserInterface();