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FlightTaskAuto: subscribe to home position

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Dennis Mannhart 2018-04-17 13:31:27 +02:00 committed by Lorenz Meier
parent 24e6e4041f
commit 7d30db1395
2 changed files with 7 additions and 0 deletions
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4
src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
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@ -50,6 +50,10 @@ bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_arr
return false;
}
if (!subscription_array.get(ORB_ID(home_position), _sub_home_position)) {
return false;
}
return true;
}

3
src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
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@ -42,6 +42,7 @@
#include "FlightTask.hpp"
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/position_setpoint.h>
#include <uORB/topics/home_position.h>
#include <lib/ecl/geo/geo.h>
/**
@ -77,6 +78,8 @@ protected:
float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
private:
uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};