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Merge branch 'master' into offboard2_merge

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Conflicts:
	src/modules/navigator/navigator.h
	src/modules/navigator/navigator_main.cpp
This commit is contained in:
Julian Oes
2014-07-07 15:11:12 +02:00
parent 79cbf15d26 be73ad0bdb
commit 407eafbdbb
18 changed files with 884 additions and 466 deletions
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src/modules/navigator/navigator_main.cpp
+6 -9
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@@ -124,7 +124,7 @@ Navigator::Navigator() :
_loiter(this, "LOI"),
_rtl(this, "RTL"),
_offboard(this, "OFF"),
_update_triplet(false),
_update_triplet_updated(false),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD")
{
@@ -379,24 +379,21 @@ 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();
}
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
/* if nothing is running, set position setpoint triplet invalid */
if (_navigation_mode == nullptr) {
// TODO publish empty sp only once
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
_update_triplet = true;
_pos_sp_triplet_updated = true;
}
if (_update_triplet) {
if (_pos_sp_triplet_updated) {
publish_position_setpoint_triplet();
_update_triplet = false;
_pos_sp_triplet_updated = false;
}
perf_end(_loop_perf);