refs #57 Consistency!

OSURoboticsClub · Apr 18, 2016 · 53d1570 · 53d1570
1 parent 9aa1b40
commit 53d1570
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/src/system/multirotor_vehicle_system.cpp b/src/system/multirotor_vehicle_system.cpp
@@ -26,7 +26,7 @@ MultirotorVehicleSystem::MultirotorVehicleSystem(
     motorMapper(motorMapper),
     platform(platform),
     stream(communicator, 10), logger(logger),
-    mode(MultirotorControlMode::CALIBRATING) {
+    mode(MultirotorControlMode::CALIBRATION) {
   // Disarm by default. A set_arm_state_message_t message is required to enable
   // the control pipeline.
   setArmed(false);
@@ -74,16 +74,16 @@ void MultirotorVehicleSystem::update() {
       }
     }
   } else if(!sensors.calibrated()) {
-    mode = MultirotorControlMode::CALIBRATING;
+    mode = MultirotorControlMode::CALIBRATION;
   } else {
     mode = MultirotorControlMode::DISARMED;
   }
 
   // Run the controllers
   ActuatorSetpoint actuatorSp = {0, 0, 0, 0};
   switch (mode) {
-    case MultirotorControlMode::CALIBRATING:
-      CalibrateMode();
+    case MultirotorControlMode::CALIBRATION:
+      CalibrationMode();
       break;
     case MultirotorControlMode::DISARMED:
       DisarmedMode(meas, estimate, input, actuatorSp);
@@ -113,7 +113,7 @@ void MultirotorVehicleSystem::on(const protocol::message::set_arm_state_message_
   setArmed(m.armed);
 }
 
-void MultirotorVehicleSystem::CalibrateMode() {
+void MultirotorVehicleSystem::CalibrationMode() {
   PulseLED(0,1,0,2);   // FIXME: This interferes with disarmed mode LED stuff..
 
   sensors.calibrateStep();

diff --git a/src/system/multirotor_vehicle_system.hpp b/src/system/multirotor_vehicle_system.hpp
@@ -36,7 +36,7 @@
 #include "sensor/sensors.hpp"
 
 enum class MultirotorControlMode {
-  CALIBRATING,
+  CALIBRATION,
   DISARMED,
   POSITION,
   VELOCITY,
@@ -59,7 +59,7 @@ class MultirotorVehicleSystem : public VehicleSystem, public MessageListener {
   void on(const protocol::message::set_arm_state_message_t& m) override;
 
 private:
-  void CalibrateMode();
+  void CalibrationMode();
   void DisarmedMode(SensorMeasurements meas, WorldEstimate est, ControllerInput input, ActuatorSetpoint& sp);
   void AngularRateMode(SensorMeasurements meas, WorldEstimate est, ControllerInput input, ActuatorSetpoint& sp);
   void AngularPosMode(SensorMeasurements meas, WorldEstimate est, ControllerInput input, ActuatorSetpoint& sp);