diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 21 |
1 files changed, 12 insertions, 9 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 1a5ba4c1a..331a9a728 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -105,17 +105,18 @@ Navigator::Navigator() : _control_mode_sub(-1), _onboard_mission_sub(-1), _offboard_mission_sub(-1), + _param_update_sub(-1), _pos_sp_triplet_pub(-1), - _vstatus({}), - _control_mode({}), - _global_pos({}), - _home_pos({}), - _mission_item({}), - _nav_caps({}), - _pos_sp_triplet({}), + _vstatus{}, + _control_mode{}, + _global_pos{}, + _home_pos{}, + _mission_item{}, + _nav_caps{}, + _pos_sp_triplet{}, _mission_item_valid(false), _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), - _geofence({}), + _geofence{}, _geofence_violation_warning_sent(false), _fence_valid(false), _inside_fence(true), @@ -124,6 +125,8 @@ Navigator::Navigator() : _loiter(this, "LOI"), _rtl(this, "RTL"), _offboard(this, "OFF"), + _can_loiter_at_sp(false), + _pos_sp_triplet_updated(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD") { @@ -455,7 +458,7 @@ void Navigator::publish_position_setpoint_triplet() { /* update navigation state */ - /* TODO: set nav_state */ + _pos_sp_triplet.nav_state = _vstatus.nav_state; /* lazily publish the position setpoint triplet only once available */ if (_pos_sp_triplet_pub > 0) { |