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Replace mission_item_triplet with position_setpoint_triplet, WIP

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This commit is contained in:
Anton Babushkin
2014-01-23 12:16:02 +01:00
parent 6c07a5c2cf
commit 6acb8fa66f
10 changed files with 304 additions and 344 deletions
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src/modules/controllib/uorb/blocks.cpp
+3 -3
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@@ -54,8 +54,8 @@ BlockWaypointGuidance::~BlockWaypointGuidance() {};
void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
vehicle_attitude_s &att,
mission_item_s &missionCmd,
mission_item_s &lastMissionCmd)
position_setpoint_s &missionCmd,
position_setpoint_s &lastMissionCmd)
{
// heading to waypoint
@@ -86,7 +86,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
_missionCmd(&getSubscriptions(), ORB_ID(mission_item_triplet), 20),
_missionCmd(&getSubscriptions(), ORB_ID(position_setpoint_triplet), 20),
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz