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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-22 07:08:30 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-22 07:08:30 +0200 |
| commit | 04ad990254e51ceb68c91e7ef601f1e281fd7062 (patch) | |
| tree | 08ce4795ee3833bd1b1d94475fc7ff1fc26154ac /src | |
| parent | e6a8eebd0a86c0dd7b8b23882772ccd3ba962ddc (diff) | |
| download | px4-firmware-04ad990254e51ceb68c91e7ef601f1e281fd7062.tar.gz px4-firmware-04ad990254e51ceb68c91e7ef601f1e281fd7062.tar.bz2 px4-firmware-04ad990254e51ceb68c91e7ef601f1e281fd7062.zip | |
Fixed build issues
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 43 |
1 files changed, 22 insertions, 21 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index ae97cc570..6c3bdb002 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -140,6 +140,9 @@ private: DROP_STATE_BAY_CLOSED } _drop_state; + struct mission_s _onboard_mission; + orb_advert_t _onboard_mission_pub; + void task_main(); void handle_command(struct vehicle_command_s *cmd); @@ -180,7 +183,9 @@ BottleDrop::BottleDrop() : _alt_clearance(70.0f), _target_position {}, _drop_position {}, - _drop_state(DROP_STATE_INIT) + _drop_state(DROP_STATE_INIT), + _onboard_mission {}, + _onboard_mission_pub(-1) { } @@ -410,10 +415,6 @@ BottleDrop::task_main() flight_vector_e.acceptance_radius = 50; // TODO: make parameter flight_vector_e.autocontinue = true; - struct mission_s onboard_mission; - memset(&onboard_mission, 0, sizeof(onboard_mission)); - orb_advert_t onboard_mission_pub = -1; - struct wind_estimate_s wind; /* wakeup source(s) */ @@ -617,27 +618,27 @@ BottleDrop::task_main() warnx("ERROR: could not save onboard WP"); } - onboard_mission.count = 2; - onboard_mission.current_seq = 0; + _onboard_mission.count = 2; + _onboard_mission.current_seq = 0; - if (onboard_mission_pub > 0) { - orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission); + if (_onboard_mission_pub > 0) { + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); } else { - onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &onboard_mission); + _onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &_onboard_mission); } _drop_state = DROP_STATE_TARGET_SET; } break; - case DROP_STATE_TARGET_SET - + case DROP_STATE_TARGET_SET: + { float distance_wp2 = get_distance_to_next_waypoint(flight_vector_e.lat, flight_vector_e.lon, _drop_position.lat, _drop_position.lon); if (distance_wp2 < distance_real) { - onboard_mission.current_seq = 0; - orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission); + _onboard_mission.current_seq = 0; + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); } else { // We're close enough - open the bay @@ -674,8 +675,8 @@ BottleDrop::task_main() float distance_wp2 = get_distance_to_next_waypoint(flight_vector_e.lat, flight_vector_e.lon, _drop_position.lat, _drop_position.lon); if (distance_wp2 < distance_real) { - onboard_mission.current_seq = 0; - orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission); + _onboard_mission.current_seq = 0; + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); } } } @@ -692,8 +693,8 @@ BottleDrop::task_main() mavlink_log_info(_mavlink_fd, "#audio: closing bay"); // remove onboard mission - onboard_mission.current_seq = -1; - orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission); + _onboard_mission.current_seq = -1; + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); } break; } @@ -784,10 +785,10 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd) _drop_state = DROP_STATE_INIT; // Abort if mission is present - onboard_mission.current_seq = -1; + _onboard_mission.current_seq = -1; - if (onboard_mission_pub > 0) { - orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission); + if (_onboard_mission_pub > 0) { + orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); } } else { |