From 6acb8fa66f38d20af57b8c45cc7878257abb24d2 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Thu, 23 Jan 2014 12:16:02 +0100
Subject: Replace mission_item_triplet with position_setpoint_triplet, WIP

---
 src/modules/controllib/uorb/blocks.cpp | 6 +++---
 src/modules/controllib/uorb/blocks.hpp | 8 ++++----
 2 files changed, 7 insertions(+), 7 deletions(-)

(limited to 'src/modules/controllib/uorb')

diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp
index e213ac17f..e8fecef0d 100644
--- a/src/modules/controllib/uorb/blocks.cpp
+++ b/src/modules/controllib/uorb/blocks.cpp
@@ -54,8 +54,8 @@ BlockWaypointGuidance::~BlockWaypointGuidance() {};
 
 void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
 				   vehicle_attitude_s &att,
-				   mission_item_s &missionCmd,
-				   mission_item_s &lastMissionCmd)
+				   position_setpoint_s &missionCmd,
+				   position_setpoint_s &lastMissionCmd)
 {
 
 	// heading to waypoint
@@ -86,7 +86,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c
 	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
 	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
 	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
-	_missionCmd(&getSubscriptions(), ORB_ID(mission_item_triplet), 20),
+	_missionCmd(&getSubscriptions(), ORB_ID(position_setpoint_triplet), 20),
 	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
 	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
 	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp
index 8cc0d77d4..7c80c4b2b 100644
--- a/src/modules/controllib/uorb/blocks.hpp
+++ b/src/modules/controllib/uorb/blocks.hpp
@@ -43,7 +43,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/mission_item_triplet.h>
+#include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>
@@ -82,8 +82,8 @@ public:
 	virtual ~BlockWaypointGuidance();
 	void update(vehicle_global_position_s &pos,
 		    vehicle_attitude_s &att,
-		    mission_item_s &missionCmd,
-		    mission_item_s &lastMissionCmd);
+		    position_setpoint_s &missionCmd,
+		    position_setpoint_s &lastMissionCmd);
 	float getPsiCmd() { return _psiCmd; }
 };
 
@@ -98,7 +98,7 @@ protected:
 	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
 	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
 	UOrbSubscription<vehicle_global_position_s> _pos;
-	UOrbSubscription<mission_item_triplet_s> _missionCmd;
+	UOrbSubscription<position_setpoint_triplet_s> _missionCmd;
 	UOrbSubscription<manual_control_setpoint_s> _manual;
 	UOrbSubscription<vehicle_status_s> _status;
 	UOrbSubscription<parameter_update_s> _param_update;
-- 
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