diff options
Diffstat (limited to 'src/modules/controllib/uorb/blocks.cpp')
| -rw-r--r-- | src/modules/controllib/uorb/blocks.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp index e213ac17f..e8fecef0d 100644 --- a/src/modules/controllib/uorb/blocks.cpp +++ b/src/modules/controllib/uorb/blocks.cpp @@ -54,8 +54,8 @@ BlockWaypointGuidance::~BlockWaypointGuidance() {}; void BlockWaypointGuidance::update(vehicle_global_position_s &pos, vehicle_attitude_s &att, - mission_item_s &missionCmd, - mission_item_s &lastMissionCmd) + position_setpoint_s &missionCmd, + position_setpoint_s &lastMissionCmd) { // heading to waypoint @@ -86,7 +86,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c _attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20), _ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20), _pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20), - _missionCmd(&getSubscriptions(), ORB_ID(mission_item_triplet), 20), + _missionCmd(&getSubscriptions(), ORB_ID(position_setpoint_triplet), 20), _manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20), _status(&getSubscriptions(), ORB_ID(vehicle_status), 20), _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz |