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RTL direct: publish NavigatorMissionItem

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-08-08 13:37:36 +02:00
parent b01c179eed
commit 588c4a04c8
2 changed files with 39 additions and 0 deletions
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src/modules/navigator/rtl_direct.h
+8
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@@ -47,6 +47,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/home_position.h>
#include <uORB/topics/navigator_mission_item.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rtl_time_estimate.h>
#include <uORB/topics/vehicle_global_position.h>
@@ -137,6 +138,12 @@ private:
*/
void parameters_update();
/**
* @brief Publish navigator mission item
*
*/
void publish_rtl_direct_navigator_mission_item();
RTLState getActivationLandState();
void setLoiterPosition();
@@ -167,4 +174,5 @@ private:
uORB::SubscriptionData<vehicle_land_detected_s> _land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::SubscriptionData<wind_s> _wind_sub{ORB_ID(wind)};
uORB::Publication<navigator_mission_item_s> _navigator_mission_item_pub{ORB_ID::navigator_mission_item}; /**< Navigator mission item publication*/
};