diff options
author | Julian Oes <julian@oes.ch> | 2014-06-19 10:36:32 +0200 |
---|---|---|
committer | Julian Oes <julian@oes.ch> | 2014-06-19 10:36:32 +0200 |
commit | 5bab3b1bac4b4e1d154532e8c249cee54ef32882 (patch) | |
tree | 5c990e65d1dc1f16eb919a7b1309e050655381de /src/modules/navigator/navigator_main.cpp | |
parent | 62faa2ee5155253779d3b93c5a280e8918585f6e (diff) | |
parent | 51f05612ebf056a46d0838fed0dc562d3e5289ad (diff) | |
download | px4-firmware-5bab3b1bac4b4e1d154532e8c249cee54ef32882.tar.gz px4-firmware-5bab3b1bac4b4e1d154532e8c249cee54ef32882.tar.bz2 px4-firmware-5bab3b1bac4b4e1d154532e8c249cee54ef32882.zip |
Merge pull request #1057 from achambers16/navigator_rewrite_modes_list
Navigator rewrite: create list of navigation modes
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 29 |
1 files changed, 12 insertions, 17 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 661d3d744..d762b8a9d 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -125,6 +125,11 @@ Navigator::Navigator() : _param_loiter_radius(this, "LOITER_RAD"), _param_takeoff_acceptance_radius(this, "TF_ACC_RAD") { + /* Create a list of our possible navigation types */ + _navigation_mode_array[0] = &_mission; + _navigation_mode_array[1] = &_loiter; + _navigation_mode_array[2] = &_rtl; + updateParams(); } @@ -364,23 +369,13 @@ Navigator::task_main() break; } - /* TODO: make list of modes and loop through it */ - if (_navigation_mode == &_mission) { - _update_triplet = _mission.on_active(&_pos_sp_triplet); - } else { - _mission.on_inactive(); - } - - if (_navigation_mode == &_rtl) { - _update_triplet = _rtl.on_active(&_pos_sp_triplet); - } else { - _rtl.on_inactive(); - } - - if (_navigation_mode == &_loiter) { - _update_triplet = _loiter.on_active(&_pos_sp_triplet); - } else { - _loiter.on_inactive(); + /* 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(); + } } /* if nothing is running, set position setpoint triplet invalid */ |