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navigator: added offboard mode

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Julian Oes
2014-06-27 12:54:29 +02:00
parent 98fffe6107
commit 7992a063c9
5 changed files with 221 additions and 1 deletions
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src/modules/navigator/navigator_main.cpp
+7
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@@ -67,6 +67,7 @@
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
#include <uORB/topics/navigation_capabilities.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
@@ -100,6 +101,7 @@ Navigator::Navigator() :
_home_pos_sub(-1),
_vstatus_sub(-1),
_capabilities_sub(-1),
_offboard_control_sp_sub(-1),
_control_mode_sub(-1),
_onboard_mission_sub(-1),
_offboard_mission_sub(-1),
@@ -121,6 +123,7 @@ Navigator::Navigator() :
_mission(this, "MIS"),
_loiter(this, "LOI"),
_rtl(this, "RTL"),
_offboard(this, "OFF"),
_update_triplet(false),
_param_loiter_radius(this, "LOITER_RAD"),
_param_takeoff_acceptance_radius(this, "TF_ACC_RAD")
@@ -129,6 +132,7 @@ Navigator::Navigator() :
_navigation_mode_array[0] = &_mission;
_navigation_mode_array[1] = &_loiter;
_navigation_mode_array[2] = &_rtl;
_navigation_mode_array[3] = &_offboard;
updateParams();
}
@@ -241,6 +245,7 @@ Navigator::task_main()
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
_offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
/* copy all topics first time */
vehicle_status_update();
@@ -364,6 +369,8 @@ Navigator::task_main()
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_TERMINATION:
case NAVIGATION_STATE_OFFBOARD:
_navigation_mode = &_offboard;
break;
default:
_navigation_mode = nullptr;
_is_in_loiter = false;