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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-19 09:23:41 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-19 09:56:32 +0200 |
| commit | 57a250f9461f0ab8fe10cf6988f9e2dfd269bdf2 (patch) | |
| tree | 7e8387b8f206dfaed540a21fbbf7eb7c5a0da235 /src/modules/navigator/navigator.h | |
| parent | e3724e64d46af2dc626af09b4d4018d7f76fa199 (diff) | |
| download | px4-firmware-57a250f9461f0ab8fe10cf6988f9e2dfd269bdf2.tar.gz px4-firmware-57a250f9461f0ab8fe10cf6988f9e2dfd269bdf2.tar.bz2 px4-firmware-57a250f9461f0ab8fe10cf6988f9e2dfd269bdf2.zip | |
navigator: remove offboard mode
offboard setpoints are now forwarded directly from mavlink
Diffstat (limited to 'src/modules/navigator/navigator.h')
| -rw-r--r-- | src/modules/navigator/navigator.h | 6 |
1 files changed, 1 insertions, 5 deletions
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 8edbb63b3..742cd59ca 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -56,14 +56,13 @@ #include "mission.h" #include "loiter.h" #include "rtl.h" -#include "offboard.h" #include "geofence.h" /** * Number of navigation modes that need on_active/on_inactive calls * Currently: mission, loiter, and rtl */ -#define NAVIGATOR_MODE_ARRAY_SIZE 4 +#define NAVIGATOR_MODE_ARRAY_SIZE 3 class Navigator : public control::SuperBlock { @@ -116,7 +115,6 @@ public: struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } int get_onboard_mission_sub() { return _onboard_mission_sub; } int get_offboard_mission_sub() { return _offboard_mission_sub; } - int get_offboard_control_sp_sub() { return _offboard_control_sp_sub; } Geofence& get_geofence() { return _geofence; } bool get_can_loiter_at_sp() { return _can_loiter_at_sp; } float get_loiter_radius() { return _param_loiter_radius.get(); } @@ -134,7 +132,6 @@ private: int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _capabilities_sub; /**< notification of vehicle capabilities updates */ - int _offboard_control_sp_sub; /*** offboard control subscription */ int _control_mode_sub; /**< vehicle control mode subscription */ int _onboard_mission_sub; /**< onboard mission subscription */ int _offboard_mission_sub; /**< offboard mission subscription */ @@ -164,7 +161,6 @@ private: Mission _mission; /**< class that handles the missions */ Loiter _loiter; /**< class that handles loiter */ RTL _rtl; /**< class that handles RTL */ - Offboard _offboard; /**< class that handles offboard */ NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */ |