fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 06:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator: refactor publish_vehicle_cmd() -> publish_vehicle_command()

Browse Source
This commit is contained in:
Matthias Grob
2025-04-25 15:32:47 +02:00
committed by Silvan Fuhrer
parent 5f34474ecb
commit f07ddda344
13 changed files with 33 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/navigator_main.cpp
+12 -12
View File
@@ -665,7 +665,7 @@ void Navigator::run()
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vcmd.param1 = _mission.get_land_start_index();
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
} else {
PX4_WARN("planned mission landing not available");
@@ -867,7 +867,7 @@ void Navigator::run()
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t");
events::send(events::ID("navigator_transition_descend"), events::Log::Critical,
"Transition to hover mode and descend");
@@ -1227,13 +1227,13 @@ void Navigator::take_traffic_conflict_action()
case 2: {
_rtl.set_return_alt_min(true);
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
break;
}
case 3: {
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
break;
}
@@ -1241,7 +1241,7 @@ void Navigator::take_traffic_conflict_action()
case 4: {
vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
break;
}
@@ -1392,7 +1392,7 @@ void Navigator::publish_navigator_status()
}
}
void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)
{
vcmd->timestamp = hrt_absolute_time();
vcmd->source_system = _vstatus.system_id;
@@ -1537,7 +1537,7 @@ void Navigator::acquire_gimbal_control()
vcmd.param2 = _vstatus.component_id;
vcmd.param3 = -1.0f; // Leave unchanged.
vcmd.param4 = -1.0f; // Leave unchanged.
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
}
void Navigator::release_gimbal_control()
@@ -1548,7 +1548,7 @@ void Navigator::release_gimbal_control()
vcmd.param2 = -3.0f; // Remove control if it had it.
vcmd.param3 = -1.0f; // Leave unchanged.
vcmd.param4 = -1.0f; // Leave unchanged.
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
}
@@ -1559,9 +1559,9 @@ Navigator::stop_capturing_images()
vehicle_command_s vcmd = {};
vcmd.command = NAV_CMD_IMAGE_STOP_CAPTURE;
vcmd.param1 = 0.0f;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
// _is_capturing_images is reset inside publish_vehicle_cmd.
// _is_capturing_images is reset inside publish_vehicle_command.
}
}
@@ -1612,7 +1612,7 @@ void Navigator::disable_camera_trigger()
// Pause trigger
cmd.param1 = -1.0f;
cmd.param3 = 1.0f;
publish_vehicle_cmd(&cmd);
publish_vehicle_command(&cmd);
}
void Navigator::set_gimbal_neutral()
@@ -1624,7 +1624,7 @@ void Navigator::set_gimbal_neutral()
vcmd.param3 = NAN;
vcmd.param4 = NAN;
vcmd.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
publish_vehicle_cmd(&vcmd);
publish_vehicle_command(&vcmd);
}
void Navigator::sendWarningDescentStoppedDueToTerrain()