navigator: added offboard mode

1 files changed, 7 insertions, 1 deletions

diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index dadd15527..e6ff213bd 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -56,13 +56,14 @@
 #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 3
+#define NAVIGATOR_MODE_ARRAY_SIZE 4
 
 class Navigator : public control::SuperBlock
 {
@@ -108,10 +109,13 @@ public:
 	 * Getters
 	 */
 	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 home_position_s*		    get_home_position() { return &_home_pos; }
+
 	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_is_in_loiter() { return _is_in_loiter; }
 	float		get_loiter_radius() { return _param_loiter_radius.get(); }
@@ -129,6 +133,7 @@ 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 */
@@ -158,6 +163,7 @@ 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 */