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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-29 14:09:22 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-29 14:09:22 +0200 |
commit | 0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3 (patch) | |
tree | 9dd567e57af5060452e6fdbfc913ab24b9b09941 /src/modules/navigator/navigator_mode.cpp | |
parent | 12be974bd67676ef243d069593b179108976da22 (diff) | |
download | px4-firmware-0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3.tar.gz px4-firmware-0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3.tar.bz2 px4-firmware-0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3.zip |
navigator: API changes, reparing to move manual modes to navigator, WIP
Diffstat (limited to 'src/modules/navigator/navigator_mode.cpp')
-rw-r--r-- | src/modules/navigator/navigator_mode.cpp | 19 |
1 files changed, 9 insertions, 10 deletions
diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp index 6361ea9c8..f43215665 100644 --- a/src/modules/navigator/navigator_mode.cpp +++ b/src/modules/navigator/navigator_mode.cpp @@ -40,6 +40,7 @@ */ #include "navigator_mode.h" +#include "navigator.h" NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) : SuperBlock(NULL, name), @@ -56,18 +57,17 @@ NavigatorMode::~NavigatorMode() { } -bool -NavigatorMode::run(bool active, struct position_setpoint_triplet_s *pos_sp_triplet) { +void +NavigatorMode::run(bool active) { if (active) { if (_first_run) { /* first run */ _first_run = false; - on_activation(pos_sp_triplet); - return true; + on_activation(); } else { /* periodic updates when active */ - on_active(pos_sp_triplet); + on_active(); } } else { @@ -83,14 +83,13 @@ NavigatorMode::on_inactive() } void -NavigatorMode::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet) +NavigatorMode::on_activation() { /* invalidate position setpoint by default */ - pos_sp_triplet->current.valid = false; + _navigator->get_position_setpoint_triplet()->current.valid = false; } -bool -NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +NavigatorMode::on_active() { - return false; } |