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ObstacleAvoidance: add comments

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This commit is contained in:
Martina Rivizzigno
2019-04-04 16:41:26 +02:00
committed by bresch
parent aa1b46f85a
commit b165c41737
3 changed files with 61 additions and 25 deletions
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src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+6 -9
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -36,9 +36,6 @@
*/
#include "ObstacleAvoidance.hpp"
#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp>
using namespace matrix;
using namespace time_literals;
@@ -64,8 +61,8 @@ ObstacleAvoidance::ObstacleAvoidance(ModuleParams *parent) :
ObstacleAvoidance::~ObstacleAvoidance()
{
//unadvertise publishers
if (_traj_wp_avoidance_desired_pub != nullptr) {
orb_unadvertise(_traj_wp_avoidance_desired_pub);
if (_pub_traj_wp_avoidance_desired != nullptr) {
orb_unadvertise(_pub_traj_wp_avoidance_desired);
}
if (_pub_pos_control_status != nullptr) {
@@ -194,11 +191,11 @@ void
ObstacleAvoidance::_publish_avoidance_desired_waypoint()
{
// publish desired waypoint
if (_traj_wp_avoidance_desired_pub != nullptr) {
orb_publish(ORB_ID(vehicle_trajectory_waypoint_desired), _traj_wp_avoidance_desired_pub, &_desired_waypoint);
if (_pub_traj_wp_avoidance_desired != nullptr) {
orb_publish(ORB_ID(vehicle_trajectory_waypoint_desired), _pub_traj_wp_avoidance_desired, &_desired_waypoint);
} else {
_traj_wp_avoidance_desired_pub = orb_advertise(ORB_ID(vehicle_trajectory_waypoint_desired),
_pub_traj_wp_avoidance_desired = orb_advertise(ORB_ID(vehicle_trajectory_waypoint_desired),
&_desired_waypoint);
}
}