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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 07:58:42 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 16:31:41 +0100 |
| commit | 2d124852c1881d5b993b3c2ec9f7a79e1e03da1b (patch) | |
| tree | e8ef94b9255f78418d4da12d206b024cb2abfcff /src/modules/navigator/navigator_main.cpp | |
| parent | 01835a51a8a3a0b0f7e7362cdc25475bd029a9a8 (diff) | |
| download | px4-firmware-2d124852c1881d5b993b3c2ec9f7a79e1e03da1b.tar.gz px4-firmware-2d124852c1881d5b993b3c2ec9f7a79e1e03da1b.tar.bz2 px4-firmware-2d124852c1881d5b993b3c2ec9f7a79e1e03da1b.zip | |
propagate uorb contants change through all modules/drivers
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 30 |
1 files changed, 15 insertions, 15 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 3f7670ec4..e35b0bd6a 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -217,7 +217,7 @@ Navigator::vehicle_status_update() { if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) { /* in case the commander is not be running */ - _vstatus.arming_state = ARMING_STATE_STANDBY; + _vstatus.arming_state = vehicle_status_s::ARMING_STATE_STANDBY; } } @@ -419,25 +419,25 @@ Navigator::task_main() /* Do stuff according to navigation state set by commander */ switch (_vstatus.nav_state) { - case NAVIGATION_STATE_MANUAL: - case NAVIGATION_STATE_ACRO: - case NAVIGATION_STATE_ALTCTL: - case NAVIGATION_STATE_POSCTL: - case NAVIGATION_STATE_LAND: - case NAVIGATION_STATE_TERMINATION: - case NAVIGATION_STATE_OFFBOARD: + case vehicle_status_s::NAVIGATION_STATE_MANUAL: + case vehicle_status_s::NAVIGATION_STATE_ACRO: + case vehicle_status_s::NAVIGATION_STATE_ALTCTL: + case vehicle_status_s::NAVIGATION_STATE_POSCTL: + case vehicle_status_s::NAVIGATION_STATE_LAND: + case vehicle_status_s::NAVIGATION_STATE_TERMINATION: + case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: _navigation_mode = nullptr; _can_loiter_at_sp = false; break; - case NAVIGATION_STATE_AUTO_MISSION: + case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_mission; break; - case NAVIGATION_STATE_AUTO_LOITER: + case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_loiter; break; - case NAVIGATION_STATE_AUTO_RCRECOVER: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER: _pos_sp_triplet_published_invalid_once = false; if (_param_rcloss_obc.get() != 0) { _navigation_mode = &_rcLoss; @@ -445,11 +445,11 @@ Navigator::task_main() _navigation_mode = &_rtl; } break; - case NAVIGATION_STATE_AUTO_RTL: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_rtl; break; - case NAVIGATION_STATE_AUTO_RTGS: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS: /* Use complex data link loss mode only when enabled via param * otherwise use rtl */ _pos_sp_triplet_published_invalid_once = false; @@ -459,11 +459,11 @@ Navigator::task_main() _navigation_mode = &_rtl; } break; - case NAVIGATION_STATE_AUTO_LANDENGFAIL: + case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_engineFailure; break; - case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_gpsFailure; break; |