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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-28 00:54:27 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-28 00:54:27 +0200 |
| commit | 456e628e129b446d18246ab8ad312a15beea5996 (patch) | |
| tree | aad2681e14611e69dbbd5ffcfa3580f22fd441fb /src/modules/navigator/navigator_main.cpp | |
| parent | affc312411b7634fa13bab6da8889de90f964ce8 (diff) | |
| download | px4-firmware-456e628e129b446d18246ab8ad312a15beea5996.tar.gz px4-firmware-456e628e129b446d18246ab8ad312a15beea5996.tar.bz2 px4-firmware-456e628e129b446d18246ab8ad312a15beea5996.zip | |
navigator: NavigatorMode and MissionBlock API cleanup
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 6 |
1 files changed, 1 insertions, 5 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 546602741..266114e38 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -371,11 +371,7 @@ Navigator::task_main() /* iterate through navigation modes and set active/inactive for each */ for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) { - if (_navigation_mode == _navigation_mode_array[i]) { - _update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet); - } else { - _navigation_mode_array[i]->on_inactive(); - } + _update_triplet = _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i], &_pos_sp_triplet); } /* if nothing is running, set position setpoint triplet invalid */ |