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navigator: missions work again, loiter when finished or no mission available or sd card removed works as well

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This commit is contained in:
Julian Oes
2014-06-04 01:07:50 +02:00
parent 5ed3652c2f
commit 93295861c5
6 changed files with 191 additions and 38 deletions
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src/modules/navigator/navigator_main.cpp
+4
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@@ -106,6 +106,8 @@ Navigator::Navigator() :
_capabilities_sub(-1),
_control_mode_sub(-1),
_pos_sp_triplet_pub(-1),
_onboard_mission_sub(-1),
_offboard_mission_sub(-1),
_vstatus({}),
_control_mode({}),
_global_pos({}),
@@ -251,6 +253,8 @@ Navigator::task_main()
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
/* copy all topics first time */
vehicle_status_update();