Rename state and mode to mavState and mavMode

Author: larry-pan

SystemManager/Src/SystemManager.cpp

@@ -74,8 +74,8 @@ SystemManager::SystemManager()
     stateData.pitchspeed = &pitchspeed;
     stateData.yawspeed = &yawspeed;
 
-    MAV_STATE state = MAV_STATE::MAV_STATE_STANDBY;
-    MAV_MODE_FLAG mode = MAV_MODE_FLAG::MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+    MAV_STATE mavState = MAV_STATE::MAV_STATE_STANDBY;
+    MAV_MODE_FLAG mavMode = MAV_MODE_FLAG::MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 
     // Creating parameters for the GroundStationCommunication that will be passed to telemetryManager
     TMCircularBuffer DMAReceiveBuffer = *(new TMCircularBuffer(rfd900_circular_buffer));
@@ -95,7 +95,7 @@ SystemManager::SystemManager()
     // the buffer that stores the bytes received from the ground station.                                           
     MavlinkTranslator MT;
 
-    this->telemetryManager = new TelemetryManager(stateData, state, mode, GSC, MT);
+    this->telemetryManager = new TelemetryManager(stateData, mavState, mavMode, GSC, MT);
     this->telemetryManager->init();
     // IDK WHERE SM PLANS TO DO THIS, BUT telemetryManager.update() NEEDS TO BE CALLED AT A SEMI
     // REGULAR INTERVAL AS IT DEALS WITH MESSAGE DECODING AND LOW PRIORITY DATA TRANSMISSION

TelemetryManager/Inc/TelemetryManager.hpp

@@ -101,9 +101,9 @@ class TelemetryManager {
 
 
     // System status flag (https://mavlink.io/en/messages/minimal.html#MAV_STATE).
-    MAV_STATE& state;
+    MAV_STATE& mavState;
     // System mode bitmap (https://mavlink.io/en/messages/minimal.html#MAV_MODE_FLAG).
-    MAV_MODE_FLAG& mode;
+    MAV_MODE_FLAG& mavMode;
 
 
     /**
@@ -121,13 +121,13 @@ class TelemetryManager {
     /**
      * @brief Construct a new Telemetry Manager object. Does not initialize the tasks.
      * To do so call the init() method.
-     * @param TM The state of the drone (lat, lng, yaw, pitch, etc..).
-     * @param state System status flag (https://mavlink.io/en/messages/minimal.html#MAV_STATE).
-     * @param mode System mode bitmap (https://mavlink.io/en/messages/minimal.html#MAV_MODE_FLAG).
+     * @param stateData The state of the drone (lat, lng, yaw, pitch, etc..).
+     * @param mav_state System status flag (https://mavlink.io/en/messages/minimal.html#MAV_STATE).
+     * @param mav_mode System mode bitmap (https://mavlink.io/en/messages/minimal.html#MAV_MODE_FLAG).
      * @param GSC Object to handle communication with the groundstation
      * @param MT Object to translate MAVLink data
      */
-    TelemetryManager(TMStateData& stateData, MAV_STATE& state, MAV_MODE_FLAG& mode, 
+    TelemetryManager(TMStateData& stateData, MAV_STATE& mavState, MAV_MODE_FLAG& mavMode, 
                      GroundStationCommunication& GSC, MavlinkTranslator& MT);
 
     /**

TelemetryManager/Src/TelemetryManager.cpp

@@ -4,11 +4,11 @@
 // FreeRTOS task handle for the routineDataTransmission task
 TaskHandle_t routineDataTransmissionH = NULL;
 
-TelemetryManager::TelemetryManager(TMStateData& stateData, MAV_STATE& state, MAV_MODE_FLAG& mode, 
+TelemetryManager::TelemetryManager(TMStateData& stateData, MAV_STATE& mav_state, MAV_MODE_FLAG& mav_mode, 
                                    GroundStationCommunication& GSC, MavlinkTranslator& MT)
     : stateData(stateData),
-      state(state),
-      mode(mode),
+      mavState(mavState),
+      mavMode(mavMode),
       GSC(GSC),
       MT(MT) {}
 
@@ -93,7 +93,7 @@ void routineDataTransmission(void* pvParameters) {
         mavlink_message_t heartbeatMsg = {0};
         // Pack the message with the actual data
         mavlink_msg_heartbeat_pack(system_id, component_id, &heartbeatMsg, MAV_TYPE_QUADROTOR,
-                                   MAV_AUTOPILOT_INVALID, tm->mode, 0, tm->state);
+                                   MAV_AUTOPILOT_INVALID, tm->mavMode, 0, tm->mavState);
         // Add the packed message to the byte queue for later transmission
         tm->MT.addMavlinkMsgToByteQueue(heartbeatMsg, tm->GSC.highPriorityTransmitBuffer);