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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-24 11:14:15 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-24 11:14:15 +0200 |
commit | 8262739b6219f54e7ea31de93cd81304df311ab9 (patch) | |
tree | 7d64aaab3252306b0925a2f2444b8865ac90cb66 /src/modules/navigator/navigator.h | |
parent | 3c10b78e2044ec2cbe36d4de35c7ac8a936521ae (diff) | |
download | px4-firmware-8262739b6219f54e7ea31de93cd81304df311ab9.tar.gz px4-firmware-8262739b6219f54e7ea31de93cd81304df311ab9.tar.bz2 px4-firmware-8262739b6219f54e7ea31de93cd81304df311ab9.zip |
geofence: can select gps instead of global position
Diffstat (limited to 'src/modules/navigator/navigator.h')
-rw-r--r-- | src/modules/navigator/navigator.h | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 709e3e724..840b43f1b 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -51,6 +51,7 @@ #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/mission_result.h> #include <uORB/topics/vehicle_attitude_setpoint.h> @@ -129,6 +130,7 @@ 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 vehicle_gps_position_s* get_gps_position() { return &_gps_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; } @@ -152,6 +154,7 @@ private: int _mavlink_fd; /**< the file descriptor to send messages over mavlink */ int _global_pos_sub; /**< global position subscription */ + int _gps_pos_sub; /**< gps position subscription */ int _sensor_combined_sub; /**< sensor combined subscription */ int _home_pos_sub; /**< home position subscription */ int _vstatus_sub; /**< vehicle status subscription */ @@ -171,6 +174,7 @@ 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 */ + vehicle_gps_position_s _gps_pos; /**< gps 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 */ @@ -217,6 +221,11 @@ private: void global_position_update(); /** + * Retrieve gps position + */ + void gps_position_update(); + + /** * Retrieve sensor values */ void sensor_combined_update(); |