fly316/PX4-Autopilot
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Martina Rivizzigno 2019-03-13 11:40:03 +01:00 committed by bresch
parent 34c0bb1723
commit e5441a6565
1 changed files with 3 additions and 3 deletions
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6
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
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@ -105,10 +105,10 @@ private:
uORB::Subscription<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; /**< vehicle trajectory waypoint subscription */
uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
DEFINE_PARAMETERS(
(ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID, /**< obstacle avoidance enabled */
DEFINE_PARAMETERS(
(ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID, /**< obstacle avoidance enabled */
(ParamFloat<px4::params::NAV_MC_ALT_RAD>) NAV_MC_ALT_RAD /**< Acceptance radius for multicopter altitude */
);
);
vehicle_trajectory_waypoint_s _desired_waypoint = {}; /**< desired vehicle trajectory waypoint to be sent to OA */
orb_advert_t _pub_traj_wp_avoidance_desired{nullptr}; /**< trajectory waypoint desired publication */