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navigator: wrong mission topic was copied, clearer naming of offboard mission now

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This commit is contained in:
Julian Oes
2014-04-18 11:15:40 +02:00
parent c77c5c878b
commit a4b10bab30
4 changed files with 7 additions and 7 deletions
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src/modules/navigator/navigator_main.cpp
+3 -3
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@@ -510,7 +510,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
{
struct mission_s offboard_mission;
if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) {
if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) {
/* Check mission feasibility, for now do not handle the return value,
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
@@ -543,7 +543,7 @@ Navigator::onboard_mission_update()
{
struct mission_s onboard_mission;
if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) {
_mission.set_onboard_mission_count(onboard_mission.count);
_mission.set_current_onboard_mission_index(onboard_mission.current_index);
@@ -611,7 +611,7 @@ Navigator::task_main()
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
_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));