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navigator: use new Param class

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This commit is contained in:
Beat Küng
2018-03-13 17:35:15 +01:00
parent 32eaf278ad
commit f2dddc65a5
30 changed files with 172 additions and 207 deletions
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src/modules/navigator/follow_target.h
+9 -6
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@@ -45,13 +45,14 @@
#include "navigator_mode.h"
#include "mission_block.h"
#include <px4_module_params.h>
#include <uORB/topics/follow_target.h>
class FollowTarget final : public MissionBlock
class FollowTarget : public MissionBlock, public ModuleParams
{
public:
FollowTarget(Navigator *navigator, const char *name);
FollowTarget(Navigator *navigator);
~FollowTarget() = default;
void on_inactive() override;
@@ -107,10 +108,12 @@ private:
}; // follow left side
control::BlockParamFloat _param_min_alt;
control::BlockParamFloat _param_tracking_dist;
control::BlockParamInt _param_tracking_side;
control::BlockParamFloat _param_tracking_resp;
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_MIN_FT_HT>) _param_min_alt,
(ParamFloat<px4::params::NAV_FT_DST>) _param_tracking_dist,
(ParamInt<px4::params::NAV_FT_FS>) _param_tracking_side,
(ParamFloat<px4::params::NAV_FT_RS>) _param_tracking_resp
)
FollowTargetState _follow_target_state{SET_WAIT_FOR_TARGET_POSITION};
int _follow_target_position{FOLLOW_FROM_BEHIND};