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navigator: wrong mission topic was copied, clearer naming of offboard mission now

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This commit is contained in:
Julian Oes
2014-04-18 22:05:49 +02:00
parent e7594a75fb
commit 654ab4635a
4 changed files with 7 additions and 7 deletions
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src/modules/mavlink/mavlink_main.cpp
+2 -2
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@@ -832,10 +832,10 @@ void Mavlink::publish_mission()
{ {
/* Initialize mission publication if necessary */ /* Initialize mission publication if necessary */
if (_mission_pub < 0) { if (_mission_pub < 0) {
_mission_pub = orb_advertise(ORB_ID(mission), &mission); _mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
} else { } else {
orb_publish(ORB_ID(mission), _mission_pub, &mission); orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission);
} }
} }
src/modules/navigator/navigator_main.cpp
+3 -3
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@@ -510,7 +510,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
{ {
struct mission_s offboard_mission; struct mission_s offboard_mission;
if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) { if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) {
/* Check mission feasibility, for now do not handle the return value, /* Check mission feasibility, for now do not handle the return value,
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
@@ -543,7 +543,7 @@ Navigator::onboard_mission_update()
{ {
struct mission_s onboard_mission; struct mission_s onboard_mission;
if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) { if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) {
_mission.set_onboard_mission_count(onboard_mission.count); _mission.set_onboard_mission_count(onboard_mission.count);
_mission.set_current_onboard_mission_index(onboard_mission.current_index); _mission.set_current_onboard_mission_index(onboard_mission.current_index);
@@ -611,7 +611,7 @@ Navigator::task_main()
* do subscriptions * do subscriptions
*/ */
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_offboard_mission_sub = orb_subscribe(ORB_ID(mission)); _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission)); _onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
src/modules/uORB/objects_common.cpp
+1 -1
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@@ -127,7 +127,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s); ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
#include "topics/mission.h" #include "topics/mission.h"
ORB_DEFINE(mission, struct mission_s); ORB_DEFINE(offboard_mission, struct mission_s);
ORB_DEFINE(onboard_mission, struct mission_s); ORB_DEFINE(onboard_mission, struct mission_s);
#include "topics/mission_result.h" #include "topics/mission_result.h"
src/modules/uORB/topics/mission.h
+1 -1
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@@ -107,7 +107,7 @@ struct mission_s
*/ */
/* register this as object request broker structure */ /* register this as object request broker structure */
ORB_DECLARE(mission); ORB_DECLARE(offboard_mission);
ORB_DECLARE(onboard_mission); ORB_DECLARE(onboard_mission);
#endif #endif