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use subscription array in ObstacleAvoidance library

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Martina Rivizzigno
2019-04-04 16:41:26 +02:00
committed by bresch
parent a9bab81eb8
commit 320ed40806
6 changed files with 37 additions and 17 deletions
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src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+3 -1
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@@ -53,11 +53,13 @@ public:
ObstacleAvoidance(ModuleParams *parent);
~ObstacleAvoidance() = default;
bool initializeSubscriptions(SubscriptionArray &subscription_array);
void prepareAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
private:
uORB::Subscription<vehicle_trajectory_waypoint_s> _sub_vehicle_trajectory_waypoint{ORB_ID(vehicle_trajectory_waypoint)};
uORB::Subscription<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr};
DEFINE_PARAMETERS(
(ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID /**< obstacle avoidance enabled */