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Code Issues Packages Projects Releases Wiki Activity

ROI - move handling to navigator (#7939)

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This commit is contained in:
Daniel Agar
2017-09-26 12:25:02 -04:00
committed by GitHub
parent e72769c924
commit 3c18be387c
24 changed files with 301 additions and 291 deletions
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src/drivers/vmount/input_mavlink.cpp
+6 -12
View File
@@ -49,15 +49,9 @@
#include <px4_posix.h>
#include <errno.h>
namespace vmount
{
InputMavlinkROI::InputMavlinkROI()
{
}
InputMavlinkROI::~InputMavlinkROI()
{
if (_vehicle_roi_sub >= 0) {
@@ -116,27 +110,27 @@ int InputMavlinkROI::update_impl(unsigned int timeout_ms, ControlData **control_
_control_data.gimbal_shutter_retract = false;
if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_NONE) {
if (vehicle_roi.mode == vehicle_roi_s::ROI_NONE) {
_control_data.type = ControlData::Type::Neutral;
*control_data = &_control_data;
} else if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_WPNEXT) {
} else if (vehicle_roi.mode == vehicle_roi_s::ROI_WPNEXT) {
_read_control_data_from_position_setpoint_sub();
_control_data.type_data.lonlat.roll_angle = 0.f;
_control_data.type_data.lonlat.pitch_fixed_angle = -10.f;
*control_data = &_control_data;
} else if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_WPINDEX) {
} else if (vehicle_roi.mode == vehicle_roi_s::ROI_WPINDEX) {
//TODO how to do this?
} else if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_LOCATION) {
} else if (vehicle_roi.mode == vehicle_roi_s::ROI_LOCATION) {
control_data_set_lon_lat(vehicle_roi.lon, vehicle_roi.lat, vehicle_roi.alt);
*control_data = &_control_data;
} else if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_TARGET) {
} else if (vehicle_roi.mode == vehicle_roi_s::ROI_TARGET) {
//TODO is this even suported?
}
@@ -150,7 +144,7 @@ int InputMavlinkROI::update_impl(unsigned int timeout_ms, ControlData **control_
// check whether the position setpoint got updated
if (polls[1].revents & POLLIN) {
if (_cur_roi_mode == vehicle_roi_s::VEHICLE_ROI_WPNEXT) {
if (_cur_roi_mode == vehicle_roi_s::ROI_WPNEXT) {
_read_control_data_from_position_setpoint_sub();
*control_data = &_control_data;
src/drivers/vmount/input_mavlink.h
+2 -2
View File
@@ -57,7 +57,7 @@ namespace vmount
class InputMavlinkROI : public InputBase
{
public:
InputMavlinkROI();
InputMavlinkROI() = default;
virtual ~InputMavlinkROI();
virtual void print_status();
@@ -71,7 +71,7 @@ private:
int _vehicle_roi_sub = -1;
int _position_setpoint_triplet_sub = -1;
uint8_t _cur_roi_mode = vehicle_roi_s::VEHICLE_ROI_NONE;
uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE;
};