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Fixed build issues

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This commit is contained in:
Lorenz Meier
2014-08-22 07:08:30 +02:00
parent e6a8eebd0a
commit 04ad990254
1 changed files with 22 additions and 21 deletions
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src/modules/bottle_drop/bottle_drop.cpp
+22 -21
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@@ -140,6 +140,9 @@ private:
DROP_STATE_BAY_CLOSED
} _drop_state;
struct mission_s _onboard_mission;
orb_advert_t _onboard_mission_pub;
void task_main();
void handle_command(struct vehicle_command_s *cmd);
@@ -180,7 +183,9 @@ BottleDrop::BottleDrop() :
_alt_clearance(70.0f),
_target_position {},
_drop_position {},
_drop_state(DROP_STATE_INIT)
_drop_state(DROP_STATE_INIT),
_onboard_mission {},
_onboard_mission_pub(-1)
{
}
@@ -410,10 +415,6 @@ BottleDrop::task_main()
flight_vector_e.acceptance_radius = 50; // TODO: make parameter
flight_vector_e.autocontinue = true;
struct mission_s onboard_mission;
memset(&onboard_mission, 0, sizeof(onboard_mission));
orb_advert_t onboard_mission_pub = -1;
struct wind_estimate_s wind;
/* wakeup source(s) */
@@ -617,27 +618,27 @@ BottleDrop::task_main()
warnx("ERROR: could not save onboard WP");
}
onboard_mission.count = 2;
onboard_mission.current_seq = 0;
_onboard_mission.count = 2;
_onboard_mission.current_seq = 0;
if (onboard_mission_pub > 0) {
orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission);
if (_onboard_mission_pub > 0) {
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
} else {
onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &onboard_mission);
_onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &_onboard_mission);
}
_drop_state = DROP_STATE_TARGET_SET;
}
break;
case DROP_STATE_TARGET_SET
case DROP_STATE_TARGET_SET:
{
float distance_wp2 = get_distance_to_next_waypoint(flight_vector_e.lat, flight_vector_e.lon, _drop_position.lat, _drop_position.lon);
if (distance_wp2 < distance_real) {
onboard_mission.current_seq = 0;
orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission);
_onboard_mission.current_seq = 0;
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
} else {
// We're close enough - open the bay
@@ -674,8 +675,8 @@ BottleDrop::task_main()
float distance_wp2 = get_distance_to_next_waypoint(flight_vector_e.lat, flight_vector_e.lon, _drop_position.lat, _drop_position.lon);
if (distance_wp2 < distance_real) {
onboard_mission.current_seq = 0;
orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission);
_onboard_mission.current_seq = 0;
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
}
}
}
@@ -692,8 +693,8 @@ BottleDrop::task_main()
mavlink_log_info(_mavlink_fd, "#audio: closing bay");
// remove onboard mission
onboard_mission.current_seq = -1;
orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission);
_onboard_mission.current_seq = -1;
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
}
break;
}
@@ -784,10 +785,10 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
_drop_state = DROP_STATE_INIT;
// Abort if mission is present
onboard_mission.current_seq = -1;
_onboard_mission.current_seq = -1;
if (onboard_mission_pub > 0) {
orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission);
if (_onboard_mission_pub > 0) {
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
}
} else {