From b3bca271d4500cc2b66e1fca22617284c1ac343f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 10 May 2013 12:06:29 +0900
Subject: [PATCH] Copter: rename verify_must to verify_nav_command
Perhaps easier to understand if we use the "nav" and "conditional"
command labels
---
ArduCopter/commands_logic.pde | 11 +++++++----
ArduCopter/commands_process.pde | 4 ++--
2 files changed, 9 insertions(+), 6 deletions(-)
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 31b8bd25d..2a71e3f6d 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -47,6 +47,7 @@ static void process_nav_command()
}
+// process_cond_command - main switch statement to initiate the next conditional command in the command_cond_queue
static void process_cond_command()
{
switch(command_cond_queue.id) {
@@ -72,6 +73,8 @@ static void process_cond_command()
}
}
+// process_now_command - main switch statement to initiate the next now command in the command_cond_queue
+// now commands are conditional commands that are executed immediately so they do not require a corresponding verify to be run later
static void process_now_command()
{
switch(command_cond_queue.id) {
@@ -136,9 +139,9 @@ static void process_now_command()
// Verify command Handlers
/********************************************************************************/
-// verify_must - switch statement to ensure the active navigation command is progressing
+// verify_nav_command - switch statement to ensure the active navigation command is progressing
// returns true once the active navigation command completes successfully
-static bool verify_must()
+static bool verify_nav_command()
{
switch(command_nav_queue.id) {
@@ -181,9 +184,9 @@ static bool verify_must()
}
}
-// verify_may - switch statement to ensure the active conditional command is progressing
+// verify_cond_command - switch statement to ensure the active conditional command is progressing
// returns true once the active conditional command completes successfully
-static bool verify_may()
+static bool verify_cond_command()
{
switch(command_cond_queue.id) {
diff --git a/ArduCopter/commands_process.pde b/ArduCopter/commands_process.pde
index 550546b23..99f0bf6bc 100644
--- a/ArduCopter/commands_process.pde
+++ b/ArduCopter/commands_process.pde
@@ -145,7 +145,7 @@ static void execute_nav_command(void)
static void verify_commands(void)
{
// check if navigation command completed
- if(verify_must()) {
+ if(verify_nav_command()) {
// clear navigation command queue so next command can be loaded
command_nav_queue.id = NO_COMMAND;
@@ -158,7 +158,7 @@ static void verify_commands(void)
}
// check if conditional command completed
- if(verify_may()) {
+ if(verify_cond_command()) {
// clear conditional command queue so next command can be loaded
command_cond_queue.id = NO_COMMAND;
}
--
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