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Navigator: cleanup and getting rid of unnecessary subscriptions
This commit is contained in:
Julian Oes
parent
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commit
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@ -1,7 +1,7 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier
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* Authors: Lorenz Meier
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* Jean Cyr
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* Julian Oes
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*
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@ -55,14 +55,8 @@
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#include <drivers/drv_hrt.h>
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#include <arch/board/board.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_global_position_set_triplet.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/mission.h>
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@ -75,6 +69,7 @@
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#include <mathlib/mathlib.h>
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#include <dataman/dataman.h>
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/**
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* navigator app start / stop handling function
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*
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@ -120,26 +115,17 @@ public:
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private:
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bool _task_should_exit; /**< if true, sensor task should exit */
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int _navigator_task; /**< task handle for sensor task */
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int _navigator_task; /**< task handle for sensor task */
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int _global_pos_sub;
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int _att_sub; /**< vehicle attitude subscription */
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int _attitude_sub; /**< raw rc channels data subscription */
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int _airspeed_sub; /**< airspeed subscription */
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int _vstatus_sub; /**< vehicle status subscription */
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int _params_sub; /**< notification of parameter updates */
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int _manual_control_sub; /**< notification of manual control updates */
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int _mission_sub;
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int _capabilities_sub;
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int _fence_sub;
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int _fence_pub;
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int _mission_sub; /**< notification of mission updates */
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int _capabilities_sub; /**< notification of vehicle capabilities updates */
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orb_advert_t _triplet_pub; /**< position setpoint */
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orb_advert_t _triplet_pub; /**< publish position setpoint triplet */
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orb_advert_t _fence_pub; /**< publish fence topic */
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struct vehicle_attitude_s _att; /**< vehicle attitude */
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struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
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struct manual_control_setpoint_s _manual; /**< r/c channel data */
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struct airspeed_s _airspeed; /**< airspeed */
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struct vehicle_status_s _vstatus; /**< vehicle status */
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struct vehicle_global_position_s _global_pos; /**< global vehicle position */
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struct vehicle_global_position_set_triplet_s _global_triplet; /**< triplet of global setpoints */
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@ -215,10 +201,6 @@ private:
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*/
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float control_pitch(float altitude_error);
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void calculate_airspeed_errors();
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void calculate_gndspeed_undershoot();
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void calculate_altitude_error();
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/**
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* Shim for calling task_main from task_create.
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*/
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@ -231,8 +213,6 @@ private:
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void publish_fence(unsigned vertices);
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void publish_mission(unsigned points);
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void publish_safepoints(unsigned points);
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bool fence_valid(const struct fence_s &fence);
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@ -257,27 +237,23 @@ Navigator::Navigator() :
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/* subscriptions */
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_global_pos_sub(-1),
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_att_sub(-1),
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_airspeed_sub(-1),
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_vstatus_sub(-1),
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_params_sub(-1),
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_manual_control_sub(-1),
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_fence_sub(-1),
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_fence_pub(-1),
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_mission_sub(-1),
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_capabilities_sub(-1),
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/* publications */
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_triplet_pub(-1),
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_fence_pub(-1),
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
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/* states */
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_mission_items_maxcount(20),
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_mission_valid(false),
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_loiter_hold(false),
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_fence_valid(false),
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_inside_fence(true)
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_inside_fence(true),
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_loiter_hold(false)
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{
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_global_pos.valid = false;
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memset(&_fence, 0, sizeof(_fence));
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@ -321,40 +297,6 @@ Navigator::parameters_update()
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return OK;
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}
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void
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Navigator::vehicle_status_poll()
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{
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bool vstatus_updated;
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/* Check HIL state if vehicle status has changed */
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orb_check(_vstatus_sub, &vstatus_updated);
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if (vstatus_updated)
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orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
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}
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void
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Navigator::vehicle_attitude_poll()
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{
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/* check if there is a new position */
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bool att_updated;
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orb_check(_att_sub, &att_updated);
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if (att_updated)
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orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
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}
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void
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Navigator::mission_poll()
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{
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/* check if there is a new setpoint */
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bool mission_updated;
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orb_check(_mission_sub, &mission_updated);
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if (mission_updated)
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mission_update();
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}
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void
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Navigator::mission_update()
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{
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@ -399,19 +341,14 @@ Navigator::task_main()
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_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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_mission_sub = orb_subscribe(ORB_ID(mission));
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_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
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_fence_sub = orb_subscribe(ORB_ID(fence));
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_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
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_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
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_params_sub = orb_subscribe(ORB_ID(parameter_update));
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_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
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// Load initial states
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if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) {
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_vstatus.arming_state = ARMING_STATE_STANDBY; // for testing... commander may not be running
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}
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orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
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mission_update();
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/* rate limit vehicle status updates to 5Hz */
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@ -434,11 +371,11 @@ Navigator::task_main()
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fds[0].events = POLLIN;
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fds[1].fd = _global_pos_sub;
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fds[1].events = POLLIN;
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fds[2].fd = _fence_sub;
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fds[2].fd = _capabilities_sub;
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fds[2].events = POLLIN;
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fds[3].fd = _capabilities_sub;
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fds[3].fd = _mission_sub;
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fds[3].events = POLLIN;
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fds[4].fd = _mission_sub;
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fds[4].fd = _vstatus_sub;
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fds[4].events = POLLIN;
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while (!_task_should_exit) {
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@ -459,10 +396,13 @@ Navigator::task_main()
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perf_begin(_loop_perf);
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/* check vehicle status for changes to publication state */
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vehicle_status_poll();
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/* only update parameters if they changed */
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if (fds[4].revents & POLLIN) {
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/* read from param to clear updated flag */
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orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
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}
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/* only update vehicle status if it changed */
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if (fds[0].revents & POLLIN) {
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/* read from param to clear updated flag */
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struct parameter_update_s update;
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@ -472,26 +412,21 @@ Navigator::task_main()
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parameters_update();
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}
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/* only update fence if it has changed */
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if (fds[2].revents & POLLIN) {
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/* read from fence to clear updated flag */
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unsigned vertices;
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orb_copy(ORB_ID(fence), _fence_sub, &vertices);
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_fence_valid = load_fence(vertices);
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}
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/* only update craft capabilities if they have changed */
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if (fds[3].revents & POLLIN) {
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if (fds[2].revents & POLLIN) {
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orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
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}
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if (fds[4].revents & POLLIN) {
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if (fds[3].revents & POLLIN) {
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mission_update();
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}
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/* only run controller if position changed */
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if (fds[1].revents & POLLIN) {
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/* load local copies */
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orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
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static uint64_t last_run = 0;
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float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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@ -501,13 +436,6 @@ Navigator::task_main()
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deltaT = 0.01f;
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}
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/* load local copies */
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orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
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vehicle_attitude_poll();
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mission_poll();
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if (_fence_valid && _global_pos.valid) {
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_inside_fence = inside_geofence(&_global_pos, &_fence);
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}
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@ -600,9 +528,9 @@ Navigator::task_main()
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} else if (_global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
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/* apply minimum pitch if altitude has not yet been reached */
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if (_global_pos.alt < _global_triplet.current.altitude) {
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_att_sp.pitch_body = math::max(_att_sp.pitch_body, _global_triplet.current.param1);
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}
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// if (_global_pos.alt < _global_triplet.current.altitude) {
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// _att_sp.pitch_body = math::max(_att_sp.pitch_body, _global_triplet.current.param1);
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// }
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}
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/* lazily publish the setpoint only once available */
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@ -681,8 +609,6 @@ Navigator::publish_fence(unsigned vertices)
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bool
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Navigator::fence_valid(const struct fence_s &fence)
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{
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struct vehicle_global_position_s pos;
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// NULL fence is valid
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if (fence.count == 0) {
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return true;
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