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author | Lorenz Meier <lm@qgroundcontrol.org> | 2014-10-07 10:29:04 +0200 |
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committer | Lorenz Meier <lm@qgroundcontrol.org> | 2014-10-07 10:29:04 +0200 |
commit | 79e5ec646523c8c93bc0e17c39fbe31222863d93 (patch) | |
tree | 9d3d2d428c45f44f6cccd2e5b121fc0827b469f0 /src/modules/navigator/navigator_main.cpp | |
parent | d856356fce52d802258a6bbfd8e4b705655ea624 (diff) | |
parent | c6de36d683601a17bfa62d75da4ecb76e95360fe (diff) | |
download | px4-firmware-79e5ec646523c8c93bc0e17c39fbe31222863d93.tar.gz px4-firmware-79e5ec646523c8c93bc0e17c39fbe31222863d93.tar.bz2 px4-firmware-79e5ec646523c8c93bc0e17c39fbe31222863d93.zip |
Merge pull request #1151 from PX4/offboard2_externalsetpointmessages
Offboard2: Handle external setpoint messages
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 17 |
1 files changed, 5 insertions, 12 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 4e2511e7a..a867dd0da 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -68,7 +68,6 @@ #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> #include <uORB/topics/navigation_capabilities.h> -#include <uORB/topics/offboard_control_setpoint.h> #include <drivers/drv_baro.h> #include <systemlib/err.h> @@ -105,7 +104,6 @@ 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), @@ -134,7 +132,6 @@ Navigator::Navigator() : _loiter(this, "LOI"), _rtl(this, "RTL"), _rcLoss(this, "RCL"), - _offboard(this, "OFF"), _dataLinkLoss(this, "DLL"), _engineFailure(this, "EF"), _gpsFailure(this, "GPSF"), @@ -149,11 +146,10 @@ Navigator::Navigator() : _navigation_mode_array[0] = &_mission; _navigation_mode_array[1] = &_loiter; _navigation_mode_array[2] = &_rtl; - _navigation_mode_array[3] = &_offboard; - _navigation_mode_array[4] = &_dataLinkLoss; - _navigation_mode_array[5] = &_engineFailure; - _navigation_mode_array[6] = &_gpsFailure; - _navigation_mode_array[7] = &_rcLoss; + _navigation_mode_array[3] = &_dataLinkLoss; + _navigation_mode_array[4] = &_engineFailure; + _navigation_mode_array[5] = &_gpsFailure; + _navigation_mode_array[6] = &_rcLoss; updateParams(); } @@ -282,7 +278,6 @@ 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(); @@ -426,6 +421,7 @@ Navigator::task_main() 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; @@ -460,9 +456,6 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_LANDGPSFAIL: _navigation_mode = &_gpsFailure; break; - case NAVIGATION_STATE_OFFBOARD: - _navigation_mode = &_offboard; - break; default: _navigation_mode = nullptr; _can_loiter_at_sp = false; |