diff options
Diffstat (limited to 'src/modules/navigator')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 42 |
1 files changed, 21 insertions, 21 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 9e73fcb22..5d4a6ef94 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -56,7 +56,7 @@ #include <arch/board/board.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_set_triplet.h> +#include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/mission.h> @@ -128,12 +128,12 @@ private: struct vehicle_status_s _vstatus; /**< vehicle status */ struct vehicle_global_position_s _global_pos; /**< global vehicle position */ - struct vehicle_global_position_set_triplet_s _global_triplet; /**< triplet of global setpoints */ + struct mission_item_triplet_s _mission_item_triplet; /**< triplet of mission items */ perf_counter_t _loop_perf; /**< loop performance counter */ - unsigned _mission_items_maxcount; /**< maximum number of mission items supported */ - struct mission_item_s * _mission_items; /**< storage for mission items */ + unsigned _mission_item_count; /**< maximum number of mission items supported */ + struct mission_item_s * _mission_items; /**< storage for mission */ bool _mission_valid; /**< flag if mission is valid */ @@ -427,7 +427,7 @@ Navigator::task_main() math::Vector2f ground_speed(_global_pos.vx, _global_pos.vy); // Current waypoint - math::Vector2f next_wp(_global_triplet.current.lat / 1e7f, _global_triplet.current.lon / 1e7f); + math::Vector2f next_wp(_mission_item_triplet.current.lat / 1e7f, _mission_item_triplet.current.lon / 1e7f); // Global position math::Vector2f current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f); @@ -441,17 +441,17 @@ Navigator::task_main() // Next waypoint math::Vector2f prev_wp; - if (_global_triplet.previous_valid) { - prev_wp.setX(_global_triplet.previous.lat / 1e7f); - prev_wp.setY(_global_triplet.previous.lon / 1e7f); + if (_mission_item_triplet.previous_valid) { + prev_wp.setX(_mission_item_triplet.previous.lat / 1e7f); + prev_wp.setY(_mission_item_triplet.previous.lon / 1e7f); } else { /* * No valid next waypoint, go for heading hold. * This is automatically handled by the L1 library. */ - prev_wp.setX(_global_triplet.current.lat / 1e7f); - prev_wp.setY(_global_triplet.current.lon / 1e7f); + prev_wp.setX(_mission_item_triplet.current.lat / 1e7f); + prev_wp.setY(_mission_item_triplet.current.lon / 1e7f); } @@ -461,13 +461,13 @@ Navigator::task_main() // XXX to be put in its own class - if (_global_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) { + if (_mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) { /* waypoint is a plain navigation waypoint */ - } else if (_global_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - _global_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - _global_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) { + } else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || + _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || + _mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) { /* waypoint is a loiter waypoint */ @@ -504,28 +504,28 @@ Navigator::task_main() /******** MAIN NAVIGATION STATE MACHINE ********/ - if (_global_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { + if (_mission_item_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) { // XXX define launch position and return - } else if (_global_triplet.current.nav_cmd == NAV_CMD_LAND) { + } else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) { // XXX flared descent on final approach - } else if (_global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) { + } else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) { /* apply minimum pitch if altitude has not yet been reached */ - // if (_global_pos.alt < _global_triplet.current.altitude) { - // _att_sp.pitch_body = math::max(_att_sp.pitch_body, _global_triplet.current.param1); + // if (_global_pos.alt < _mission_item_triplet.current.altitude) { + // _att_sp.pitch_body = math::max(_att_sp.pitch_body, _mission_item_triplet.current.param1); // } } /* lazily publish the setpoint only once available */ if (_triplet_pub > 0) { /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_global_position_set_triplet), _triplet_pub, &_global_triplet); + orb_publish(ORB_ID(mission_item_triplet), _triplet_pub, &_mission_item_triplet); } else { /* advertise and publish */ - _triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &_global_triplet); + _triplet_pub = orb_advertise(ORB_ID(mission_item_triplet), &_mission_item_triplet); } } |