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Waypoints and missionlib: lot's of cleanup

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This commit is contained in:
Julian Oes
2013-12-29 14:50:26 +01:00
parent c1e50b8a1f
commit ea55527bbb
10 changed files with 304 additions and 1236 deletions
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src/modules/mavlink/mavlink.c
+4 -5
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@@ -68,7 +68,6 @@
#include "waypoints.h"
#include "orb_topics.h"
#include "missionlib.h"
#include "mavlink_hil.h"
#include "util.h"
#include "waypoints.h"
@@ -710,25 +709,25 @@ int mavlink_thread_main(int argc, char *argv[])
}
}
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap);
mavlink_waypoint_eventloop(hrt_absolute_time());
/* sleep quarter the time */
usleep(25000);
/* check if waypoint has been reached against the last positions */
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap);
mavlink_waypoint_eventloop(hrt_absolute_time());
/* sleep quarter the time */
usleep(25000);
/* send parameters at 20 Hz (if queued for sending) */
mavlink_pm_queued_send();
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap);
mavlink_waypoint_eventloop(hrt_absolute_time());
/* sleep quarter the time */
usleep(25000);
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap);
mavlink_waypoint_eventloop(hrt_absolute_time());
if (baudrate > 57600) {
mavlink_pm_queued_send();