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navigator: NavigatorMode and MissionBlock API cleanup

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Anton Babushkin
2014-06-28 00:54:27 +02:00
parent affc312411
commit 456e628e12
11 changed files with 148 additions and 133 deletions
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src/modules/navigator/navigator_main.cpp
+1 -5
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@@ -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 */