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navigator: bugfixing (WIP: mission topic not copying)

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This commit is contained in:
Julian Oes
2014-06-03 21:20:44 +02:00
parent 34731a4f4e
commit 82b7b80f47
5 changed files with 34 additions and 20 deletions
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src/modules/navigator/navigator_main.cpp
+3 -6
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@@ -103,8 +103,6 @@ Navigator::Navigator() :
_home_pos_sub(-1),
_vstatus_sub(-1),
_params_sub(-1),
_offboard_mission_sub(-1),
_onboard_mission_sub(-1),
_capabilities_sub(-1),
_control_mode_sub(-1),
_pos_sp_triplet_pub(-1),
@@ -248,8 +246,6 @@ Navigator::task_main()
/* do subscriptions */
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
@@ -360,6 +356,8 @@ Navigator::task_main()
case NAVIGATION_STATE_ACRO:
case NAVIGATION_STATE_ALTCTL:
case NAVIGATION_STATE_POSCTL:
_mission.reset();
_rtl.reset();
break;
case NAVIGATION_STATE_AUTO_MISSION:
_update_triplet = _mission.update(&_pos_sp_triplet);
@@ -660,8 +658,6 @@ Navigator::start_land()
_update_triplet = true;
return true;
}
#endif
#if 0
bool
Navigator::check_mission_item_reached()
{
@@ -766,6 +762,7 @@ Navigator::reset_reached()
_waypoint_yaw_reached = false;
}
#endif
void
Navigator::publish_position_setpoint_triplet()
{