navigator: adapt offboard class to new NavigatorMode API

2 files changed, 19 insertions, 24 deletions

diff --git a/src/modules/navigator/offboard.cpp b/src/modules/navigator/offboard.cpp
index ef7d11a03..dcb5c6000 100644
--- a/src/modules/navigator/offboard.cpp
+++ b/src/modules/navigator/offboard.cpp
@@ -67,17 +67,27 @@ Offboard::~Offboard()
 {
 }
 
-bool
-Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
+void
+Offboard::on_inactive()
+{
+}
+
+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 (_navigator->get_control_mode()->flag_control_position_enabled
 	    && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
@@ -91,7 +101,7 @@ 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();
 
 	} else if (_navigator->get_control_mode()->flag_control_velocity_enabled
 	           && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) {
@@ -105,16 +115,11 @@ 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();
 	}
 
-	return changed;
 }
 
-void
-Offboard::on_inactive()
-{
-}
 
 void
 Offboard::update_offboard_control_setpoint()
diff --git a/src/modules/navigator/offboard.h b/src/modules/navigator/offboard.h
index 4d415dddb..66b923bdb 100644
--- a/src/modules/navigator/offboard.h
+++ b/src/modules/navigator/offboard.h
@@ -54,25 +54,15 @@ class Navigator;
 class Offboard : public NavigatorMode
 {
 public:
-	/**
-	 * Constructor
-	 */
 	Offboard(Navigator *navigator, const char *name);
 
-	/**
-	 * Destructor
-	 */
 	~Offboard();
 
-	/**
-	 * This function is called while the mode is inactive
-	 */
 	virtual void on_inactive();
 
-	/**
-	 * This function is called while the mode is active
-	 */
-	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_activation();
+
+	virtual void on_active();
 private:
 	void update_offboard_control_setpoint();