diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 36 |
1 files changed, 18 insertions, 18 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 34a28aec3..f39dc88e3 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -159,8 +159,9 @@ private: vehicle_control_mode_s _control_mode; /**< vehicle control mode */ vehicle_global_position_s _global_pos; /**< global vehicle position */ home_position_s _home_pos; /**< home position for RTL */ - position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ mission_item_s _mission_item; /**< current mission item */ + navigation_capabilities_s _nav_caps; + position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ bool _mission_item_valid; @@ -172,7 +173,6 @@ private: bool _fence_valid; /**< flag if fence is valid */ bool _inside_fence; /**< vehicle is inside fence */ - struct navigation_capabilities_s _nav_caps; Mission _mission; @@ -308,11 +308,6 @@ private: bool check_mission_item_reached(); /** - * Perform actions when current mission item reached. - */ - // void on_mission_item_reached(); - - /** * Move to next waypoint */ bool set_mission_items(); @@ -352,7 +347,7 @@ Navigator *g_navigator; Navigator::Navigator() : -/* state machine transition table */ + /* state machine transition table */ StateTable(&myTable[0][0], NAV_STATE_MAX, MAX_EVENT), _task_should_exit(false), _navigator_task(-1), @@ -366,18 +361,27 @@ Navigator::Navigator() : _capabilities_sub(-1), _control_mode_sub(-1), _pos_sp_triplet_pub(-1), + _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_violation_warning_sent(false), _fence_valid(false), _inside_fence(true), - _mission(), - _pos_sp_triplet({}), - _mission_item({}), - _mission_item_valid(false), + _mission({}), + _rtl({}), _waypoint_position_reached(false), _waypoint_yaw_reached(false), _time_first_inside_orbit(0), - _update_triplet(false) + _update_triplet(false), + _parameters({}), + _parameter_handles({}) { _parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD"); _parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD"); @@ -530,12 +534,9 @@ Navigator::task_main() { /* inform about start */ warnx("Initializing.."); - fflush(stdout); _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - mavlink_log_info(_mavlink_fd, "[navigator] started"); - /* Try to load the geofence: * if /fs/microsd/etc/geofence.txt load from this file * else clear geofence data in datamanager @@ -578,7 +579,6 @@ Navigator::task_main() /* rate limit position updates to 50 Hz */ orb_set_interval(_global_pos_sub, 20); - unsigned prevState = NAV_STATE_NONE_ON_GROUND; hrt_abstime mavlink_open_time = 0; const hrt_abstime mavlink_open_interval = 500000; @@ -811,7 +811,7 @@ Navigator::status() break; case NAV_STATE_LAND: - warnx("State: LAND"); + warnx("State: Land"); break; default: |