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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-19 09:23:41 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-19 09:56:32 +0200 |
| commit | 57a250f9461f0ab8fe10cf6988f9e2dfd269bdf2 (patch) | |
| tree | 7e8387b8f206dfaed540a21fbbf7eb7c5a0da235 /src/modules/navigator/navigator_main.cpp | |
| parent | e3724e64d46af2dc626af09b4d4018d7f76fa199 (diff) | |
| download | px4-firmware-57a250f9461f0ab8fe10cf6988f9e2dfd269bdf2.tar.gz px4-firmware-57a250f9461f0ab8fe10cf6988f9e2dfd269bdf2.tar.bz2 px4-firmware-57a250f9461f0ab8fe10cf6988f9e2dfd269bdf2.zip | |
navigator: remove offboard mode
offboard setpoints are now forwarded directly from mavlink
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 13 |
1 files changed, 3 insertions, 10 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 331a9a728..f11ae72c5 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -67,7 +67,6 @@ #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> #include <uORB/topics/navigation_capabilities.h> -#include <uORB/topics/offboard_control_setpoint.h> #include <systemlib/err.h> #include <systemlib/systemlib.h> @@ -101,7 +100,6 @@ Navigator::Navigator() : _home_pos_sub(-1), _vstatus_sub(-1), _capabilities_sub(-1), - _offboard_control_sp_sub(-1), _control_mode_sub(-1), _onboard_mission_sub(-1), _offboard_mission_sub(-1), @@ -124,7 +122,6 @@ Navigator::Navigator() : _mission(this, "MIS"), _loiter(this, "LOI"), _rtl(this, "RTL"), - _offboard(this, "OFF"), _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), @@ -134,7 +131,6 @@ Navigator::Navigator() : _navigation_mode_array[0] = &_mission; _navigation_mode_array[1] = &_loiter; _navigation_mode_array[2] = &_rtl; - _navigation_mode_array[3] = &_offboard; updateParams(); } @@ -247,7 +243,6 @@ Navigator::task_main() _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _param_update_sub = orb_subscribe(ORB_ID(parameter_update)); - _offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); /* copy all topics first time */ vehicle_status_update(); @@ -353,6 +348,9 @@ Navigator::task_main() case NAVIGATION_STATE_ACRO: case NAVIGATION_STATE_ALTCTL: case NAVIGATION_STATE_POSCTL: + case NAVIGATION_STATE_LAND: + case NAVIGATION_STATE_TERMINATION: + case NAVIGATION_STATE_OFFBOARD: _navigation_mode = nullptr; _can_loiter_at_sp = false; break; @@ -368,11 +366,6 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_RTGS: _navigation_mode = &_rtl; /* TODO: change this to something else */ break; - case NAVIGATION_STATE_LAND: - case NAVIGATION_STATE_TERMINATION: - case NAVIGATION_STATE_OFFBOARD: - _navigation_mode = &_offboard; - break; default: _navigation_mode = nullptr; _can_loiter_at_sp = false; |