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| author | Julian Oes <julian@oes.ch> | 2014-04-18 11:15:40 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-04-18 22:05:49 +0200 |
| commit | 654ab4635ad0fb70d6c0cb601d56e3d97691bdac (patch) | |
| tree | 10e13c9778aef585268ef0d2a409b56c35e2ea28 | |
| parent | e7594a75fb9de2f75c96fa836aef1d956370070d (diff) | |
| download | px4-firmware-654ab4635ad0fb70d6c0cb601d56e3d97691bdac.tar.gz px4-firmware-654ab4635ad0fb70d6c0cb601d56e3d97691bdac.tar.bz2 px4-firmware-654ab4635ad0fb70d6c0cb601d56e3d97691bdac.zip | |
navigator: wrong mission topic was copied, clearer naming of offboard mission now
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 4 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 6 | ||||
| -rw-r--r-- | src/modules/uORB/objects_common.cpp | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/mission.h | 2 |
4 files changed, 7 insertions, 7 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 072f16aae..36d47b7ee 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -832,10 +832,10 @@ void Mavlink::publish_mission() { /* Initialize mission publication if necessary */ if (_mission_pub < 0) { - _mission_pub = orb_advertise(ORB_ID(mission), &mission); + _mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); } else { - orb_publish(ORB_ID(mission), _mission_pub, &mission); + orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission); } } diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 1bb5d33a1..494266dd3 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -510,7 +510,7 @@ Navigator::offboard_mission_update(bool isrotaryWing) { struct mission_s offboard_mission; - if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) { + if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) { /* Check mission feasibility, for now do not handle the return value, * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ @@ -543,7 +543,7 @@ Navigator::onboard_mission_update() { struct mission_s onboard_mission; - if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) { + if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) { _mission.set_onboard_mission_count(onboard_mission.count); _mission.set_current_onboard_mission_index(onboard_mission.current_index); @@ -611,7 +611,7 @@ Navigator::task_main() * do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - _offboard_mission_sub = orb_subscribe(ORB_ID(mission)); + _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index c8a589bb7..90675bb2e 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -127,7 +127,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s); ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s); #include "topics/mission.h" -ORB_DEFINE(mission, struct mission_s); +ORB_DEFINE(offboard_mission, struct mission_s); ORB_DEFINE(onboard_mission, struct mission_s); #include "topics/mission_result.h" diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 1ccdb7181..dfc461ae4 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -107,7 +107,7 @@ struct mission_s */ /* register this as object request broker structure */ -ORB_DECLARE(mission); +ORB_DECLARE(offboard_mission); ORB_DECLARE(onboard_mission); #endif |