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navigator: mission and loiter working now

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This commit is contained in:
Julian Oes
2014-06-06 00:55:18 +02:00
parent 425b454a87
commit 7af1103bf3
7 changed files with 202 additions and 47 deletions
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src/modules/navigator/navigator_main.cpp
+9 -10
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@@ -102,9 +102,9 @@ Navigator::Navigator() :
_vstatus_sub(-1),
_capabilities_sub(-1),
_control_mode_sub(-1),
_pos_sp_triplet_pub(-1),
_onboard_mission_sub(-1),
_offboard_mission_sub(-1),
_pos_sp_triplet_pub(-1),
_vstatus({}),
_control_mode({}),
_global_pos({}),
@@ -119,11 +119,8 @@ Navigator::Navigator() :
_fence_valid(false),
_inside_fence(true),
_mission(this, "MIS"),
//_loiter(&_global_pos, &_home_pos, &_vstatus),
_loiter(this, "LOI"),
_rtl(this, "RTL"),
_waypoint_position_reached(false),
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0),
_update_triplet(false)
{
}
@@ -325,26 +322,29 @@ Navigator::task_main()
case NAVIGATION_STATE_ALTCTL:
case NAVIGATION_STATE_POSCTL:
_mission.reset();
_loiter.reset();
_rtl.reset();
_is_in_loiter = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
_update_triplet = _mission.update(&_pos_sp_triplet);
_rtl.reset();
break;
case NAVIGATION_STATE_AUTO_LOITER:
//_loiter.update();
_update_triplet = _loiter.update(&_pos_sp_triplet);
break;
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_RTL_RC:
case NAVIGATION_STATE_AUTO_RTL_DL:
_mission.reset();
_update_triplet = _rtl.update(&_pos_sp_triplet);
break;
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_TERMINATION:
default:
_mission.reset();
_loiter.reset();
_rtl.reset();
_is_in_loiter = false;
break;
}
if (_update_triplet ) {
@@ -354,7 +354,6 @@ Navigator::task_main()
perf_end(_loop_perf);
}
warnx("exiting.");
_navigator_task = -1;