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author | Julian Oes <julian@oes.ch> | 2014-06-27 10:34:34 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-06-27 12:54:29 +0200 |
commit | 7992a063c9f9b2cf7fbb49dcd5d19c60f15d0bfc (patch) | |
tree | 905ba7e54ee7e1fef3bf91fcfbb82111a719ac4b /src/modules/navigator/navigator.h | |
parent | 98fffe61071b5332a9875efce932ff7c8688ab76 (diff) | |
download | px4-firmware-7992a063c9f9b2cf7fbb49dcd5d19c60f15d0bfc.tar.gz px4-firmware-7992a063c9f9b2cf7fbb49dcd5d19c60f15d0bfc.tar.bz2 px4-firmware-7992a063c9f9b2cf7fbb49dcd5d19c60f15d0bfc.zip |
navigator: added offboard mode
Diffstat (limited to 'src/modules/navigator/navigator.h')
-rw-r--r-- | src/modules/navigator/navigator.h | 8 |
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 */ |