From 456e628e129b446d18246ab8ad312a15beea5996 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 28 Jun 2014 00:54:27 +0200 Subject: navigator: NavigatorMode and MissionBlock API cleanup --- src/modules/navigator/navigator_main.cpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) (limited to 'src/modules/navigator/navigator_main.cpp') diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 546602741..266114e38 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -371,11 +371,7 @@ Navigator::task_main() /* iterate through navigation modes and set active/inactive for each */ for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) { - if (_navigation_mode == _navigation_mode_array[i]) { - _update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet); - } else { - _navigation_mode_array[i]->on_inactive(); - } + _update_triplet = _navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i], &_pos_sp_triplet); } /* if nothing is running, set position setpoint triplet invalid */ -- cgit v1.2.3