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| author | Julian Oes <julian@oes.ch> | 2014-06-06 00:55:18 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-06 00:55:18 +0200 |
| commit | 7af1103bf3d4936c259e4ee44454d7e34100a7d0 (patch) | |
| tree | 46501e8de6d98a72ddc77f090c1ac7f5139714e9 /src/modules/navigator/navigator_main.cpp | |
| parent | 425b454a87f0eb4dd0300154cdeffa5723c1b3b8 (diff) | |
| download | px4-firmware-7af1103bf3d4936c259e4ee44454d7e34100a7d0.tar.gz px4-firmware-7af1103bf3d4936c259e4ee44454d7e34100a7d0.tar.bz2 px4-firmware-7af1103bf3d4936c259e4ee44454d7e34100a7d0.zip | |
navigator: mission and loiter working now
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 19 |
1 files changed, 9 insertions, 10 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 3c8875a74..44c1075c1 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -102,9 +102,9 @@ Navigator::Navigator() : _vstatus_sub(-1), _capabilities_sub(-1), _control_mode_sub(-1), - _pos_sp_triplet_pub(-1), _onboard_mission_sub(-1), _offboard_mission_sub(-1), + _pos_sp_triplet_pub(-1), _vstatus({}), _control_mode({}), _global_pos({}), @@ -119,11 +119,8 @@ Navigator::Navigator() : _fence_valid(false), _inside_fence(true), _mission(this, "MIS"), - //_loiter(&_global_pos, &_home_pos, &_vstatus), + _loiter(this, "LOI"), _rtl(this, "RTL"), - _waypoint_position_reached(false), - _waypoint_yaw_reached(false), - _time_first_inside_orbit(0), _update_triplet(false) { } @@ -325,26 +322,29 @@ Navigator::task_main() case NAVIGATION_STATE_ALTCTL: case NAVIGATION_STATE_POSCTL: _mission.reset(); + _loiter.reset(); _rtl.reset(); + _is_in_loiter = false; break; case NAVIGATION_STATE_AUTO_MISSION: _update_triplet = _mission.update(&_pos_sp_triplet); - _rtl.reset(); break; case NAVIGATION_STATE_AUTO_LOITER: - //_loiter.update(); + _update_triplet = _loiter.update(&_pos_sp_triplet); break; case NAVIGATION_STATE_AUTO_RTL: case NAVIGATION_STATE_AUTO_RTL_RC: case NAVIGATION_STATE_AUTO_RTL_DL: - _mission.reset(); _update_triplet = _rtl.update(&_pos_sp_triplet); break; case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_TERMINATION: default: + _mission.reset(); + _loiter.reset(); + _rtl.reset(); + _is_in_loiter = false; break; - } if (_update_triplet ) { @@ -354,7 +354,6 @@ Navigator::task_main() perf_end(_loop_perf); } - warnx("exiting."); _navigator_task = -1; |