Mission topic: Use mission topic instead of global position for triplet

2 files changed, 14 insertions, 13 deletions

diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp
index 448a42a99..e213ac17f 100644
--- a/src/modules/controllib/uorb/blocks.cpp
+++ b/src/modules/controllib/uorb/blocks.cpp
@@ -54,26 +54,26 @@ BlockWaypointGuidance::~BlockWaypointGuidance() {};
 
 void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
 				   vehicle_attitude_s &att,
-				   vehicle_global_position_setpoint_s &posCmd,
-				   vehicle_global_position_setpoint_s &lastPosCmd)
+				   mission_item_s &missionCmd,
+				   mission_item_s &lastMissionCmd)
 {
 
 	// heading to waypoint
 	float psiTrack = get_bearing_to_next_waypoint(
 				 (double)pos.lat / (double)1e7d,
 				 (double)pos.lon / (double)1e7d,
-				 (double)posCmd.lat / (double)1e7d,
-				 (double)posCmd.lon / (double)1e7d);
+				 missionCmd.lat,
+				 missionCmd.lon);
 
 	// cross track
 	struct crosstrack_error_s xtrackError;
 	get_distance_to_line(&xtrackError,
 			     (double)pos.lat / (double)1e7d,
 			     (double)pos.lon / (double)1e7d,
-			     (double)lastPosCmd.lat / (double)1e7d,
-			     (double)lastPosCmd.lon / (double)1e7d,
-			     (double)posCmd.lat / (double)1e7d,
-			     (double)posCmd.lon / (double)1e7d);
+			     lastMissionCmd.lat,
+			     lastMissionCmd.lon,
+			     missionCmd.lat,
+			     missionCmd.lon);
 
 	_psiCmd = _wrap_2pi(psiTrack -
 			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
@@ -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),
-	_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
+	_missionCmd(&getSubscriptions(), ORB_ID(mission_item_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 46dc1bec2..335439fb7 100644
--- a/src/modules/controllib/uorb/blocks.hpp
+++ b/src/modules/controllib/uorb/blocks.hpp
@@ -43,7 +43,8 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_set_triplet.h>
+#include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/mission_item_triplet.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>
@@ -82,8 +83,8 @@ public:
 	virtual ~BlockWaypointGuidance();
 	void update(vehicle_global_position_s &pos,
 		    vehicle_attitude_s &att,
-		    vehicle_global_position_setpoint_s &posCmd,
-		    vehicle_global_position_setpoint_s &lastPosCmd);
+		    mission_item_s &missionCmd,
+		    mission_item_s &lastMissionCmd);
 	float getPsiCmd() { return _psiCmd; }
 };
 
@@ -98,7 +99,7 @@ protected:
 	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
 	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
 	UOrbSubscription<vehicle_global_position_s> _pos;
-	UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
+	UOrbSubscription<mission_item_triplet_s> _missionCmd;
 	UOrbSubscription<manual_control_setpoint_s> _manual;
 	UOrbSubscription<vehicle_status_s> _status;
 	UOrbSubscription<parameter_update_s> _param_update;