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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-28 00:54:27 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-28 00:54:27 +0200 |
commit | 456e628e129b446d18246ab8ad312a15beea5996 (patch) | |
tree | aad2681e14611e69dbbd5ffcfa3580f22fd441fb /src/modules/navigator/loiter.cpp | |
parent | affc312411b7634fa13bab6da8889de90f964ce8 (diff) | |
download | px4-firmware-456e628e129b446d18246ab8ad312a15beea5996.tar.gz px4-firmware-456e628e129b446d18246ab8ad312a15beea5996.tar.bz2 px4-firmware-456e628e129b446d18246ab8ad312a15beea5996.zip |
navigator: NavigatorMode and MissionBlock API cleanup
Diffstat (limited to 'src/modules/navigator/loiter.cpp')
-rw-r--r-- | src/modules/navigator/loiter.cpp | 18 |
1 files changed, 13 insertions, 5 deletions
diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 542483fb1..5e7067b0e 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -65,14 +65,22 @@ Loiter::~Loiter() { } -bool -Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +Loiter::on_inactive() { - /* set loiter item, don't reuse an existing position setpoint */ - return set_loiter_item(pos_sp_triplet); } void -Loiter::on_inactive() +Loiter::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + set_loiter_item(pos_sp_triplet); + pos_sp_triplet->previous.valid = false; + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; +} + +bool +Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) { + return false; } |