diff options
Diffstat (limited to 'src/modules/navigator')
-rw-r--r-- | src/modules/navigator/loiter.cpp | 2 | ||||
-rw-r--r-- | src/modules/navigator/mission.cpp | 4 | ||||
-rw-r--r-- | src/modules/navigator/mission_block.cpp | 10 | ||||
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 30 |
4 files changed, 23 insertions, 23 deletions
diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index f827e70c9..a744d58cf 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -82,7 +82,7 @@ Loiter::on_activation() mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); pos_sp_triplet->next.valid = false; - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER); + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER); _navigator->set_position_setpoint_triplet_updated(); } diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index b52b12ce7..a94082d6f 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -397,7 +397,7 @@ Mission::set_mission_items() pos_sp_triplet->next.valid = false; /* reuse setpoint for LOITER only if it's not IDLE */ - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER); + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER); set_mission_finished(); @@ -476,7 +476,7 @@ Mission::set_mission_items() mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); /* require takeoff after landing or idle */ - if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) { + if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) { _need_takeoff = true; } diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index e39fb3216..52ccebac9 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -194,25 +194,25 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite switch (item->nav_cmd) { case NAV_CMD_IDLE: - sp->type = SETPOINT_TYPE_IDLE; + sp->type = position_setpoint_s::SETPOINT_TYPE_IDLE; break; case NAV_CMD_TAKEOFF: - sp->type = SETPOINT_TYPE_TAKEOFF; + sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF; break; case NAV_CMD_LAND: - sp->type = SETPOINT_TYPE_LAND; + sp->type = position_setpoint_s::SETPOINT_TYPE_LAND; break; case NAV_CMD_LOITER_TIME_LIMIT: case NAV_CMD_LOITER_TURN_COUNT: case NAV_CMD_LOITER_UNLIMITED: - sp->type = SETPOINT_TYPE_LOITER; + sp->type = position_setpoint_s::SETPOINT_TYPE_LOITER; break; default: - sp->type = SETPOINT_TYPE_POSITION; + sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION; break; } } diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index edc61dcc6..ad2349c94 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -217,7 +217,7 @@ Navigator::vehicle_status_update() { if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) { /* in case the commander is not be running */ - _vstatus.arming_state = ARMING_STATE_STANDBY; + _vstatus.arming_state = vehicle_status_s::ARMING_STATE_STANDBY; } } @@ -416,25 +416,25 @@ Navigator::task_main() /* Do stuff according to navigation state set by commander */ switch (_vstatus.nav_state) { - case NAVIGATION_STATE_MANUAL: - case NAVIGATION_STATE_ACRO: - case NAVIGATION_STATE_ALTCTL: - case NAVIGATION_STATE_POSCTL: - case NAVIGATION_STATE_LAND: - case NAVIGATION_STATE_TERMINATION: - case NAVIGATION_STATE_OFFBOARD: + case vehicle_status_s::NAVIGATION_STATE_MANUAL: + case vehicle_status_s::NAVIGATION_STATE_ACRO: + case vehicle_status_s::NAVIGATION_STATE_ALTCTL: + case vehicle_status_s::NAVIGATION_STATE_POSCTL: + case vehicle_status_s::NAVIGATION_STATE_LAND: + case vehicle_status_s::NAVIGATION_STATE_TERMINATION: + case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: _navigation_mode = nullptr; _can_loiter_at_sp = false; break; - case NAVIGATION_STATE_AUTO_MISSION: + case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_mission; break; - case NAVIGATION_STATE_AUTO_LOITER: + case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_loiter; break; - case NAVIGATION_STATE_AUTO_RCRECOVER: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER: _pos_sp_triplet_published_invalid_once = false; if (_param_rcloss_obc.get() != 0) { _navigation_mode = &_rcLoss; @@ -442,11 +442,11 @@ Navigator::task_main() _navigation_mode = &_rtl; } break; - case NAVIGATION_STATE_AUTO_RTL: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_rtl; break; - case NAVIGATION_STATE_AUTO_RTGS: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS: /* Use complex data link loss mode only when enabled via param * otherwise use rtl */ _pos_sp_triplet_published_invalid_once = false; @@ -456,11 +456,11 @@ Navigator::task_main() _navigation_mode = &_rtl; } break; - case NAVIGATION_STATE_AUTO_LANDENGFAIL: + case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_engineFailure; break; - case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL: _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_gpsFailure; break; |