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mission: add heading towards ROI mode for multicopters

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This commit is contained in:
Nicolas de Palezieux
2017-09-08 12:50:15 -04:00
committed by Daniel Agar
parent 7a42424411
commit a6ce2b320c
5 changed files with 29 additions and 1 deletions
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src/modules/navigator/navigator_main.cpp
+15
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@@ -213,6 +213,12 @@ Navigator::params_update()
}
}
void
Navigator::vehicle_roi_update()
{
orb_copy(ORB_ID(vehicle_roi), _vehicle_roi_sub, &_vroi);
}
void
Navigator::task_main_trampoline(int argc, char *argv[])
{
@@ -246,6 +252,7 @@ Navigator::task_main()
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
_vehicle_roi_sub = orb_subscribe(ORB_ID(vehicle_roi));
/* copy all topics first time */
vehicle_status_update();
@@ -257,6 +264,7 @@ Navigator::task_main()
home_position_update(true);
fw_pos_ctrl_status_update(true);
params_update();
vehicle_roi_update();
/* wakeup source(s) */
px4_pollfd_struct_t fds[1] = {};
@@ -357,6 +365,13 @@ Navigator::task_main()
home_position_update();
}
/* ROI updated */
orb_check(_vehicle_roi_sub, &updated);
if (updated) {
vehicle_roi_update();
}
/* vehicle_command updated */
orb_check(_vehicle_command_sub, &updated);