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| author | Julian Oes <julian@oes.ch> | 2014-06-03 21:20:44 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-03 21:20:44 +0200 |
| commit | 82b7b80f475d12fc31eb63c0d69a7cf8f75ac534 (patch) | |
| tree | b8269e482b0d50fab52f5e5f3dd93756414007db /src/modules/navigator/navigator_main.cpp | |
| parent | 34731a4f4e75f2b13fb9f95ce448a7777bbe5992 (diff) | |
| download | px4-firmware-82b7b80f475d12fc31eb63c0d69a7cf8f75ac534.tar.gz px4-firmware-82b7b80f475d12fc31eb63c0d69a7cf8f75ac534.tar.bz2 px4-firmware-82b7b80f475d12fc31eb63c0d69a7cf8f75ac534.zip | |
navigator: bugfixing (WIP: mission topic not copying)
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 9 |
1 files changed, 3 insertions, 6 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index f91032196..9dd253127 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -103,8 +103,6 @@ Navigator::Navigator() : _home_pos_sub(-1), _vstatus_sub(-1), _params_sub(-1), - _offboard_mission_sub(-1), - _onboard_mission_sub(-1), _capabilities_sub(-1), _control_mode_sub(-1), _pos_sp_triplet_pub(-1), @@ -248,8 +246,6 @@ Navigator::task_main() /* do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); - _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); @@ -360,6 +356,8 @@ Navigator::task_main() case NAVIGATION_STATE_ACRO: case NAVIGATION_STATE_ALTCTL: case NAVIGATION_STATE_POSCTL: + _mission.reset(); + _rtl.reset(); break; case NAVIGATION_STATE_AUTO_MISSION: _update_triplet = _mission.update(&_pos_sp_triplet); @@ -660,8 +658,6 @@ Navigator::start_land() _update_triplet = true; return true; } -#endif -#if 0 bool Navigator::check_mission_item_reached() { @@ -766,6 +762,7 @@ Navigator::reset_reached() _waypoint_yaw_reached = false; } +#endif void Navigator::publish_position_setpoint_triplet() { |