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navigator: publish navigator mission item changes for logging

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- new msg navigator_mission_item for inspecting navigator mission item processing
This commit is contained in:
Daniel Agar
2020-10-13 12:12:03 -04:00
committed by GitHub
parent 74c9ba8d55
commit d71ca37087
7 changed files with 72 additions and 0 deletions
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src/modules/navigator/mission.h
+5
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@@ -57,6 +57,7 @@
#include <uORB/topics/home_position.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/navigator_mission_item.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
@@ -230,12 +231,16 @@ private:
bool position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const;
void publish_navigator_mission_item();
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MIS_DIST_1WP>) _param_mis_dist_1wp,
(ParamFloat<px4::params::MIS_DIST_WPS>) _param_mis_dist_wps,
(ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mis_mnt_yaw_ctl
)
uORB::Publication<navigator_mission_item_s> _navigator_mission_item_pub{ORB_ID::navigator_mission_item};
uORB::Subscription _mission_sub{ORB_ID(mission)}; /**< mission subscription */
mission_s _mission {};