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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-17 12:07:02 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-17 12:07:02 +0200 |
commit | b1008842204418f5d8cd0475547ecfb8f378b4c7 (patch) | |
tree | cd50ef6730b7e861c5965a5c5618fa5d38dc0a41 /src/modules/navigator/navigator.h | |
parent | a2cab83391ac2c3628d919cc70c9e244fec22df0 (diff) | |
download | px4-firmware-b1008842204418f5d8cd0475547ecfb8f378b4c7.tar.gz px4-firmware-b1008842204418f5d8cd0475547ecfb8f378b4c7.tar.bz2 px4-firmware-b1008842204418f5d8cd0475547ecfb8f378b4c7.zip |
geofence: support AMSL mode
Diffstat (limited to 'src/modules/navigator/navigator.h')
-rw-r--r-- | src/modules/navigator/navigator.h | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 536977972..59a6752a9 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -120,6 +120,7 @@ public: struct vehicle_status_s* get_vstatus() { return &_vstatus; } struct vehicle_control_mode_s* get_control_mode() { return &_control_mode; } struct vehicle_global_position_s* get_global_position() { return &_global_pos; } + struct sensor_combined_s* get_sensor_combined() { return &_sensor_combined; } 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; } @@ -141,6 +142,7 @@ private: int _mavlink_fd; /**< the file descriptor to send messages over mavlink */ int _global_pos_sub; /**< global position subscription */ + int _sensor_combined_sub; /**< sensor combined subscription */ int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _capabilities_sub; /**< notification of vehicle capabilities updates */ @@ -156,6 +158,7 @@ private: vehicle_status_s _vstatus; /**< vehicle status */ vehicle_control_mode_s _control_mode; /**< vehicle control mode */ vehicle_global_position_s _global_pos; /**< global vehicle position */ + sensor_combined_s _sensor_combined; /**< sensor values */ home_position_s _home_pos; /**< home position for RTL */ mission_item_s _mission_item; /**< current mission item */ navigation_capabilities_s _nav_caps; /**< navigation capabilities */ @@ -196,6 +199,11 @@ private: void global_position_update(); /** + * Retrieve sensor values + */ + void sensor_combined_update(); + + /** * Retrieve home position */ void home_position_update(); |