diff options
Diffstat (limited to 'src/modules/navigator/navigator_mode.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_mode.cpp | 39 |
1 files changed, 32 insertions, 7 deletions
diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp index 25e767c2b..f43215665 100644 --- a/src/modules/navigator/navigator_mode.cpp +++ b/src/modules/navigator/navigator_mode.cpp @@ -33,12 +33,14 @@ /** * @file navigator_mode.cpp * - * Helper class for different modes in navigator + * Base class for different modes in navigator * * @author Julian Oes <julian@oes.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include "navigator_mode.h" +#include "navigator.h" NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) : SuperBlock(NULL, name), @@ -56,15 +58,38 @@ NavigatorMode::~NavigatorMode() } void +NavigatorMode::run(bool active) { + if (active) { + if (_first_run) { + /* first run */ + _first_run = false; + on_activation(); + + } else { + /* periodic updates when active */ + on_active(); + } + + } else { + /* periodic updates when inactive */ + _first_run = true; + on_inactive(); + } +} + +void NavigatorMode::on_inactive() { - _first_run = true; } -bool -NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +NavigatorMode::on_activation() +{ + /* invalidate position setpoint by default */ + _navigator->get_position_setpoint_triplet()->current.valid = false; +} + +void +NavigatorMode::on_active() { - pos_sp_triplet->current.valid = false; - _first_run = false; - return false; } |