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author | Julian Oes <julian@oes.ch> | 2014-07-07 15:11:12 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-07-07 15:11:12 +0200 |
commit | 407eafbdbb3a81a8d2e9b30ae0757a9f1862c467 (patch) | |
tree | 0cc99180cbc19f95ac9ba9de0dfc5e6aac3a475d /src/modules/navigator/navigator_main.cpp | |
parent | 79cbf15d2621db38688939ab70eda7ac2fb88cbe (diff) | |
parent | be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc (diff) | |
download | px4-firmware-407eafbdbb3a81a8d2e9b30ae0757a9f1862c467.tar.gz px4-firmware-407eafbdbb3a81a8d2e9b30ae0757a9f1862c467.tar.bz2 px4-firmware-407eafbdbb3a81a8d2e9b30ae0757a9f1862c467.zip |
Merge branch 'master' into offboard2_merge
Conflicts:
src/modules/navigator/navigator.h
src/modules/navigator/navigator_main.cpp
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 15 |
1 files changed, 6 insertions, 9 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index c8420c0e4..c959bf891 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -124,7 +124,7 @@ Navigator::Navigator() : _loiter(this, "LOI"), _rtl(this, "RTL"), _offboard(this, "OFF"), - _update_triplet(false), + _update_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD") { @@ -379,24 +379,21 @@ Navigator::task_main() /* 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(); - } + _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]); } /* if nothing is running, set position setpoint triplet invalid */ if (_navigation_mode == nullptr) { + // TODO publish empty sp only once _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; - _update_triplet = true; + _pos_sp_triplet_updated = true; } - if (_update_triplet) { + if (_pos_sp_triplet_updated) { publish_position_setpoint_triplet(); - _update_triplet = false; + _pos_sp_triplet_updated = false; } perf_end(_loop_perf); |