From 51293ad5542cd2904d4a9c6cb8cb4664cd16a8fd Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 20 Aug 2015 11:07:40 +0200
Subject: [PATCH] navigator: Adjust to uORB mission changes

---
 src/modules/navigator/datalinkloss.cpp  |  1 +
 src/modules/navigator/enginefailure.cpp |  1 +
 src/modules/navigator/gpsfailure.cpp    |  1 +
 src/modules/navigator/mission.cpp       |  1 +
 src/modules/navigator/mission_block.h   |  2 ++
 src/modules/navigator/navigation.h      | 17 ++++-------------
 src/modules/navigator/navigator.h       |  1 +
 src/modules/navigator/rcloss.cpp        |  2 +-
 src/modules/navigator/rtl.cpp           |  2 +-
 src/modules/navigator/rtl.h             |  3 +--
 10 files changed, 14 insertions(+), 17 deletions(-)

diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp
index 7925809f12..9f26d05016 100644
--- a/src/modules/navigator/datalinkloss.cpp
+++ b/src/modules/navigator/datalinkloss.cpp
@@ -45,6 +45,7 @@
 #include <mavlink/mavlink_log.h>
 #include <systemlib/err.h>
 #include <geo/geo.h>
+#include <navigator/navigation.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
diff --git a/src/modules/navigator/enginefailure.cpp b/src/modules/navigator/enginefailure.cpp
index b0130a1f5c..0c344bff92 100644
--- a/src/modules/navigator/enginefailure.cpp
+++ b/src/modules/navigator/enginefailure.cpp
@@ -44,6 +44,7 @@
 #include <mavlink/mavlink_log.h>
 #include <systemlib/err.h>
 #include <geo/geo.h>
+#include <navigator/navigation.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp
index 0ca69f0f75..e6097c87f3 100644
--- a/src/modules/navigator/gpsfailure.cpp
+++ b/src/modules/navigator/gpsfailure.cpp
@@ -45,6 +45,7 @@
 #include <mavlink/mavlink_log.h>
 #include <systemlib/err.h>
 #include <geo/geo.h>
+#include <navigator/navigation.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index de34797aa3..c988faab7d 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -55,6 +55,7 @@
 #include <systemlib/err.h>
 #include <geo/geo.h>
 #include <lib/mathlib/mathlib.h>
+#include <navigator/navigation.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h
index c850a0313c..eb17a329ee 100644
--- a/src/modules/navigator/mission_block.h
+++ b/src/modules/navigator/mission_block.h
@@ -43,6 +43,8 @@
 
 #include <drivers/drv_hrt.h>
 
+#include <navigator/navigation.h>
+
 #include <uORB/topics/mission.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index 7363e7d968..d23a20c5ff 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -32,19 +32,18 @@
  ****************************************************************************/
 
 /**
- * @file mission.h
+ * @file navigation.h
  * Definition of a mission consisting of mission items.
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#ifndef TOPIC_MISSION_H_
-#define TOPIC_MISSION_H_
+#ifndef NAVIGATION_H_
+#define NAVIGATION_H_
 
 #include <stdint.h>
 #include <stdbool.h>
-#include "../uORB.h"
 
 #define NUM_MISSIONS_SUPPORTED 256
 
@@ -103,15 +102,7 @@ struct mission_item_s {
 	int actuator_value;             /**< new value for selected actuator in ms 900...2000         */
 };
 
-/**
- * This topic used to notify navigator about mission changes, mission itself and new mission state
- * must be stored in dataman before publication.
- */
-struct mission_s {
-	int dataman_id;			/**< default 0, there are two offboard storage places in the dataman: 0 or 1 */
-	unsigned count;			/**< count of the missions stored in the dataman */
-	int current_seq;				/**< default -1, start at the one changed latest */
-};
+#include <uORB/topics/mission.h>
 
 /**
  * @}
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 093e1be3c2..1ddedddff4 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -45,6 +45,7 @@
 
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
+#include <navigator/navigation.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp
index 40bf7f0223..fcc00148f8 100644
--- a/src/modules/navigator/rcloss.cpp
+++ b/src/modules/navigator/rcloss.cpp
@@ -47,7 +47,7 @@
 #include <geo/geo.h>
 
 #include <uORB/uORB.h>
-#include <uORB/topics/mission.h>
+#include <navigator/navigation.h>
 #include <uORB/topics/home_position.h>
 
 #include "navigator.h"
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index b75b7fa221..246007ad81 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -47,7 +47,7 @@
 #include <geo/geo.h>
 
 #include <uORB/uORB.h>
-#include <uORB/topics/mission.h>
+#include <navigator/navigation.h>
 #include <uORB/topics/home_position.h>
 
 #include "navigator.h"
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index 5928f1f07b..3506065802 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -44,8 +44,7 @@
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
 
-#include <uORB/topics/mission.h>
-#include <uORB/topics/mission.h>
+#include <navigator/navigation.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_global_position.h>