From 5406ba78a8de82c49aa9ea8e033c82670950259d Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Fri, 15 Aug 2014 20:53:03 +0200
Subject: make navigator mode a child of navigator

---
 src/modules/navigator/datalinkloss.cpp   | 19 +++++++++++--------
 src/modules/navigator/mission.cpp        |  6 +++---
 src/modules/navigator/navigator_mode.cpp |  2 +-
 src/modules/navigator/rtl.cpp            |  6 +++---
 4 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp
index 6c5012bfd..2efca0a94 100644
--- a/src/modules/navigator/datalinkloss.cpp
+++ b/src/modules/navigator/datalinkloss.cpp
@@ -58,14 +58,14 @@
 DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
 	_vehicleStatus(&getSubscriptions(), ORB_ID(vehicle_status), 100),
-	_param_commsholdwaittime(this, "NAV_DLL_CH_T", false),
-	_param_commsholdlat(this, "NAV_DLL_CH_LAT", false),
-	_param_commsholdlon(this, "NAV_DLL_CH_LON", false),
-	_param_commsholdalt(this, "NAV_DLL_CH_ALT", false),
-	_param_airfieldhomelat(this, "NAV_DLL_AH_LAT", false),
-	_param_airfieldhomelon(this, "NAV_DLL_AH_LON", false),
-	_param_airfieldhomealt(this, "NAV_DLL_AH_ALT", false),
-	_param_numberdatalinklosses(this, "NAV_DLL_N", false),
+	_param_commsholdwaittime(this, "CH_T"),
+	_param_commsholdlat(this, "CH_LAT"),
+	_param_commsholdlon(this, "CH_LON"),
+	_param_commsholdalt(this, "CH_ALT"),
+	_param_airfieldhomelat(this, "AH_LAT"),
+	_param_airfieldhomelon(this, "AH_LON"),
+	_param_airfieldhomealt(this, "AH_ALT"),
+	_param_numberdatalinklosses(this, "N"),
 	_dll_state(DLL_STATE_NONE)
 {
 	/* load initial params */
@@ -182,14 +182,17 @@ DataLinkLoss::advance_dll()
 		updateSubscriptions();
 		if (_vehicleStatus.data_link_lost_counter > _param_numberdatalinklosses.get()) {
 			warnx("too many data link losses, fly to airfield home");
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to home");
 			_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
 		} else {
 			warnx("fly to comms hold");
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to comms hold");
 			_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
 		}
 		break;
 	case DLL_STATE_FLYTOCOMMSHOLDWP:
 		warnx("fly to airfield home");
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to home");
 		_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
 		_navigator->get_mission_result()->stay_in_failsafe = true;
 		_navigator->publish_mission_result();
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index c76192f66..79865e2ae 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -59,9 +59,9 @@
 
 Mission::Mission(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
-	_param_onboard_enabled(this, "ONBOARD_EN"),
-	_param_takeoff_alt(this, "TAKEOFF_ALT"),
-	_param_dist_1wp(this, "DIST_1WP"),
+	_param_onboard_enabled(this, "MIS_ONBOARD_EN", false),
+	_param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false),
+	_param_dist_1wp(this, "MIS_DIST_1WP", false),
 	_onboard_mission({0}),
 	_offboard_mission({0}),
 	_current_onboard_mission_index(-1),
diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp
index 3c6754c55..d91f7ab18 100644
--- a/src/modules/navigator/navigator_mode.cpp
+++ b/src/modules/navigator/navigator_mode.cpp
@@ -43,7 +43,7 @@
 #include "navigator.h"
 
 NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
-	SuperBlock(NULL, name),
+	SuperBlock(navigator, name),
 	_navigator(navigator),
 	_first_run(true)
 {
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 142a73409..b6c4b8fdf 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -58,9 +58,9 @@
 RTL::RTL(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
 	_rtl_state(RTL_STATE_NONE),
-	_param_return_alt(this, "RETURN_ALT"),
-	_param_descend_alt(this, "DESCEND_ALT"),
-	_param_land_delay(this, "LAND_DELAY")
+	_param_return_alt(this, "RTL_RETURN_ALT", false),
+	_param_descend_alt(this, "RTL_DESCEND_ALT", false),
+	_param_land_delay(this, "RTL_LAND_DELAY", false)
 {
 	/* load initial params */
 	updateParams();
-- 
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