fix merge errors in offboard.cpp

1 files changed, 11 insertions, 8 deletions

diff --git a/src/modules/navigator/offboard.cpp b/src/modules/navigator/offboard.cpp
index 71a14c029..fc4d183cd 100644
--- a/src/modules/navigator/offboard.cpp
+++ b/src/modules/navigator/offboard.cpp
@@ -67,17 +67,22 @@ Offboard::~Offboard()
 {
 }
 
-bool
-Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
+void
+Offboard::on_activation()
+{
+}
+
+void
+Offboard::on_active()
 {
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
 	bool updated;
 	orb_check(_navigator->get_offboard_control_sp_sub(), &updated);
 	if (updated) {
 		update_offboard_control_setpoint();
 	}
 
-	bool changed = false;
-
 	/* copy offboard setpoints to the corresponding topics */
 	if (_offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED) {
 		/* We accept position control only if none of the directions is ignored (as pos_sp_triplet does not
@@ -97,8 +102,7 @@ Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 			pos_sp_triplet->current.valid = true;
 			pos_sp_triplet->current.position_valid = true;
 
-			changed = true;
-
+			_navigator->set_position_setpoint_triplet_updated();
 		}
 		/* We accept velocity control only if none of the directions is ignored (as pos_sp_triplet does not
 		 * support deactivation of individual directions) */
@@ -117,13 +121,12 @@ Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 			pos_sp_triplet->current.valid = true;
 			pos_sp_triplet->current.velocity_valid = true;
 
-			changed = true;
+			_navigator->set_position_setpoint_triplet_updated();
 		}
 
 		//XXX: map acceleration setpoint once supported in setpoint triplet
 	}
 
-	return changed;
 }
 
 void