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navigator: compile fixes after rebase

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This commit is contained in:
Julian Oes 2016-04-04 13:24:19 +02:00
parent 08ce231d76
commit 50c36296fa
2 changed files with 6 additions and 6 deletions
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10
src/modules/navigator/mission.cpp
View File

@ -474,7 +474,7 @@ Mission::set_mission_items()
if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
&& _navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_vstatus()->condition_landed
&& !_navigator->get_land_detected()->landed
&& has_next_position_item) {
/* check if the vtol_takeoff command is on top of us */
if(do_need_move_to_takeoff()){
@ -485,7 +485,7 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
_mission_item.params[0] = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
_mission_item.params[0] = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
_mission_item.yaw = _navigator->get_global_position()->yaw;
} else {
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
@ -509,7 +509,7 @@ Mission::set_mission_items()
/* move to land wp as fixed wing */
if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& !_navigator->get_vstatus()->condition_landed) {
&& !_navigator->get_land_detected()->landed) {
new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND;
/* use current mission item as next position item */
memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s));
@ -530,9 +530,9 @@ Mission::set_mission_items()
if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND
&& _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND
&& !_navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_vstatus()->condition_landed) {
&& !_navigator->get_land_detected()->landed) {
_mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
_mission_item.params[0] = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
_mission_item.params[0] = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
_mission_item.autocontinue = true;
new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION;
}

2
src/modules/navigator/mission_block.cpp
View File

@ -454,7 +454,7 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
void
MissionBlock::set_follow_target_item(struct mission_item_s *item, float min_clearance, follow_target_s & target, float yaw)
{
if (_navigator->get_vstatus()->condition_landed) {
if (_navigator->get_land_detected()->landed) {
/* landed, don't takeoff, but switch to IDLE mode */
item->nav_cmd = NAV_CMD_IDLE;