diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 19 |
1 files changed, 5 insertions, 14 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index bf5e36d39..a867dd0da 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -68,7 +68,6 @@ #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> #include <uORB/topics/navigation_capabilities.h> -#include <uORB/topics/offboard_control_setpoint.h> #include <drivers/drv_baro.h> #include <systemlib/err.h> @@ -105,7 +104,6 @@ Navigator::Navigator() : _home_pos_sub(-1), _vstatus_sub(-1), _capabilities_sub(-1), - _offboard_control_sp_sub(-1), _control_mode_sub(-1), _onboard_mission_sub(-1), _offboard_mission_sub(-1), @@ -134,7 +132,6 @@ Navigator::Navigator() : _loiter(this, "LOI"), _rtl(this, "RTL"), _rcLoss(this, "RCL"), - _offboard(this, "OFF"), _dataLinkLoss(this, "DLL"), _engineFailure(this, "EF"), _gpsFailure(this, "GPSF"), @@ -149,11 +146,10 @@ Navigator::Navigator() : _navigation_mode_array[0] = &_mission; _navigation_mode_array[1] = &_loiter; _navigation_mode_array[2] = &_rtl; - _navigation_mode_array[3] = &_offboard; - _navigation_mode_array[4] = &_dataLinkLoss; - _navigation_mode_array[5] = &_engineFailure; - _navigation_mode_array[6] = &_gpsFailure; - _navigation_mode_array[7] = &_rcLoss; + _navigation_mode_array[3] = &_dataLinkLoss; + _navigation_mode_array[4] = &_engineFailure; + _navigation_mode_array[5] = &_gpsFailure; + _navigation_mode_array[6] = &_rcLoss; updateParams(); } @@ -282,7 +278,6 @@ Navigator::task_main() _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); _param_update_sub = orb_subscribe(ORB_ID(parameter_update)); - _offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); /* copy all topics first time */ vehicle_status_update(); @@ -388,11 +383,9 @@ Navigator::task_main() /* global position updated */ if (fds[0].revents & POLLIN) { global_position_update(); - static int gposcounter = 0; if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) { have_geofence_position_data = true; } - gposcounter++; } /* Check geofence violation */ @@ -428,6 +421,7 @@ Navigator::task_main() case NAVIGATION_STATE_POSCTL: case NAVIGATION_STATE_LAND: case NAVIGATION_STATE_TERMINATION: + case NAVIGATION_STATE_OFFBOARD: _navigation_mode = nullptr; _can_loiter_at_sp = false; break; @@ -462,9 +456,6 @@ Navigator::task_main() case NAVIGATION_STATE_AUTO_LANDGPSFAIL: _navigation_mode = &_gpsFailure; break; - case NAVIGATION_STATE_OFFBOARD: - _navigation_mode = &_offboard; - break; default: _navigation_mode = nullptr; _can_loiter_at_sp = false; |