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| author | Ban Siesta <bansiesta@gmail.com> | 2014-12-19 22:26:31 +0000 |
|---|---|---|
| committer | Ban Siesta <bansiesta@gmail.com> | 2014-12-19 22:26:31 +0000 |
| commit | 2a09473e5fc73bf2f59f0d27b0b5c38b2c91812f (patch) | |
| tree | fda3c8920df9fdab418bdfed25fe1a327eb200b7 /src/modules/navigator/navigator.h | |
| parent | 19d5383c56b78132e63ea30ef1625b0aaa4a0dee (diff) | |
| download | px4-firmware-2a09473e5fc73bf2f59f0d27b0b5c38b2c91812f.tar.gz px4-firmware-2a09473e5fc73bf2f59f0d27b0b5c38b2c91812f.tar.bz2 px4-firmware-2a09473e5fc73bf2f59f0d27b0b5c38b2c91812f.zip | |
topics: move geofence status to its own topic
Diffstat (limited to 'src/modules/navigator/navigator.h')
| -rw-r--r-- | src/modules/navigator/navigator.h | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 9cd609955..a701e3f44 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -54,6 +54,7 @@ #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/mission_result.h> +#include <uORB/topics/geofence_result.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include "navigator_mode.h" @@ -112,6 +113,11 @@ public: void publish_mission_result(); /** + * Publish the geofence result + */ + void publish_geofence_result(); + + /** * Publish the attitude sp, only to be used in very special modes when position control is deactivated * Example: mode that is triggered on gps failure */ @@ -134,6 +140,7 @@ public: struct home_position_s* get_home_position() { return &_home_pos; } struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } struct mission_result_s* get_mission_result() { return &_mission_result; } + struct geofence_result_s* get_geofence_result() { return &_geofence_result; } struct vehicle_attitude_setpoint_s* get_att_sp() { return &_att_sp; } int get_onboard_mission_sub() { return _onboard_mission_sub; } @@ -164,6 +171,7 @@ private: orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */ orb_advert_t _mission_result_pub; + orb_advert_t _geofence_result_pub; orb_advert_t _att_sp_pub; /**< publish att sp used only in very special failsafe modes when pos control is deactivated */ @@ -179,7 +187,8 @@ private: position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ mission_result_s _mission_result; - vehicle_attitude_setpoint_s _att_sp; + geofence_result_s _geofence_result; + vehicle_attitude_setpoint_s _att_sp; bool _mission_item_valid; /**< flags if the current mission item is valid */ |