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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-29 14:09:22 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-29 14:09:22 +0200 |
commit | 0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3 (patch) | |
tree | 9dd567e57af5060452e6fdbfc913ab24b9b09941 /src/modules/navigator/navigator_main.cpp | |
parent | 12be974bd67676ef243d069593b179108976da22 (diff) | |
download | px4-firmware-0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3.tar.gz px4-firmware-0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3.tar.bz2 px4-firmware-0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3.zip |
navigator: API changes, reparing to move manual modes to navigator, WIP
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 266114e38..bb48db829 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -121,7 +121,7 @@ Navigator::Navigator() : _mission(this, "MIS"), _loiter(this, "LOI"), _rtl(this, "RTL"), - _update_triplet(false), + _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD") { @@ -371,20 +371,21 @@ Navigator::task_main() /* iterate through navigation modes and set active/inactive for each */ for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) { - _update_triplet = _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i], &_pos_sp_triplet); + _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]); } /* if nothing is running, set position setpoint triplet invalid */ if (_navigation_mode == nullptr) { + // TODO publish empty sp only once _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; - _update_triplet = true; + _pos_sp_triplet_updated = true; } - if (_update_triplet) { + if (_pos_sp_triplet_updated) { publish_position_setpoint_triplet(); - _update_triplet = false; + _pos_sp_triplet_updated = false; } perf_end(_loop_perf); |