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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-23 12:16:02 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-23 12:16:02 +0100 |
| commit | 6acb8fa66f38d20af57b8c45cc7878257abb24d2 (patch) | |
| tree | 8227872dfb5bafdcf9bfa1e5fa0de0a49becf3a6 /src/modules/controllib/uorb | |
| parent | 6c07a5c2cf83642a192aefccf82f942e6e7c01a5 (diff) | |
| download | px4-firmware-6acb8fa66f38d20af57b8c45cc7878257abb24d2.tar.gz px4-firmware-6acb8fa66f38d20af57b8c45cc7878257abb24d2.tar.bz2 px4-firmware-6acb8fa66f38d20af57b8c45cc7878257abb24d2.zip | |
Replace mission_item_triplet with position_setpoint_triplet, WIP
Diffstat (limited to 'src/modules/controllib/uorb')
| -rw-r--r-- | src/modules/controllib/uorb/blocks.cpp | 6 | ||||
| -rw-r--r-- | src/modules/controllib/uorb/blocks.hpp | 8 |
2 files changed, 7 insertions, 7 deletions
diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp index e213ac17f..e8fecef0d 100644 --- a/src/modules/controllib/uorb/blocks.cpp +++ b/src/modules/controllib/uorb/blocks.cpp @@ -54,8 +54,8 @@ BlockWaypointGuidance::~BlockWaypointGuidance() {}; void BlockWaypointGuidance::update(vehicle_global_position_s &pos, vehicle_attitude_s &att, - mission_item_s &missionCmd, - mission_item_s &lastMissionCmd) + position_setpoint_s &missionCmd, + position_setpoint_s &lastMissionCmd) { // heading to waypoint @@ -86,7 +86,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c _attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20), _ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20), _pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20), - _missionCmd(&getSubscriptions(), ORB_ID(mission_item_triplet), 20), + _missionCmd(&getSubscriptions(), ORB_ID(position_setpoint_triplet), 20), _manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20), _status(&getSubscriptions(), ORB_ID(vehicle_status), 20), _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp index 8cc0d77d4..7c80c4b2b 100644 --- a/src/modules/controllib/uorb/blocks.hpp +++ b/src/modules/controllib/uorb/blocks.hpp @@ -43,7 +43,7 @@ #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/mission_item_triplet.h> +#include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_controls.h> @@ -82,8 +82,8 @@ public: virtual ~BlockWaypointGuidance(); void update(vehicle_global_position_s &pos, vehicle_attitude_s &att, - mission_item_s &missionCmd, - mission_item_s &lastMissionCmd); + position_setpoint_s &missionCmd, + position_setpoint_s &lastMissionCmd); float getPsiCmd() { return _psiCmd; } }; @@ -98,7 +98,7 @@ protected: UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd; UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd; UOrbSubscription<vehicle_global_position_s> _pos; - UOrbSubscription<mission_item_triplet_s> _missionCmd; + UOrbSubscription<position_setpoint_triplet_s> _missionCmd; UOrbSubscription<manual_control_setpoint_s> _manual; UOrbSubscription<vehicle_status_s> _status; UOrbSubscription<parameter_update_s> _param_update; |