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fix merge errors in offboard.cpp

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This commit is contained in:
Thomas Gubler
2014-07-08 13:47:53 +02:00
parent 19017f1001
commit cf4a11c7e7
1 changed files with 11 additions and 8 deletions
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src/modules/navigator/offboard.cpp
+11 -8
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@@ -67,17 +67,22 @@ Offboard::~Offboard()
{ {
} }
bool void
Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) Offboard::on_activation()
{ {
}
void
Offboard::on_active()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
bool updated; bool updated;
orb_check(_navigator->get_offboard_control_sp_sub(), &updated); orb_check(_navigator->get_offboard_control_sp_sub(), &updated);
if (updated) { if (updated) {
update_offboard_control_setpoint(); update_offboard_control_setpoint();
} }
bool changed = false;
/* copy offboard setpoints to the corresponding topics */ /* copy offboard setpoints to the corresponding topics */
if (_offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED) { if (_offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED) {
/* We accept position control only if none of the directions is ignored (as pos_sp_triplet does not /* We accept position control only if none of the directions is ignored (as pos_sp_triplet does not
@@ -97,8 +102,7 @@ Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
pos_sp_triplet->current.valid = true; pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.position_valid = true; pos_sp_triplet->current.position_valid = true;
changed = true; _navigator->set_position_setpoint_triplet_updated();
} }
/* We accept velocity control only if none of the directions is ignored (as pos_sp_triplet does not /* We accept velocity control only if none of the directions is ignored (as pos_sp_triplet does not
* support deactivation of individual directions) */ * support deactivation of individual directions) */
@@ -117,13 +121,12 @@ Offboard::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
pos_sp_triplet->current.valid = true; pos_sp_triplet->current.valid = true;
pos_sp_triplet->current.velocity_valid = true; pos_sp_triplet->current.velocity_valid = true;
changed = true; _navigator->set_position_setpoint_triplet_updated();
} }
//XXX: map acceleration setpoint once supported in setpoint triplet //XXX: map acceleration setpoint once supported in setpoint triplet
} }
return changed;
} }
void void