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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/geofence.h
+10 -11
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@@ -43,9 +43,7 @@
#include <cfloat>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <controllib/blocks.hpp>
#include <px4_module_params.h>
#include <drivers/drv_hrt.h>
#include <geo/geo.h>
#include <px4_defines.h>
@@ -57,7 +55,7 @@
class Navigator;
class Geofence : public control::SuperBlock
class Geofence : public ModuleParams
{
public:
Geofence(Navigator *navigator);
@@ -159,13 +157,14 @@ private:
map_projection_reference_s _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]
/* Params */
control::BlockParamInt _param_action;
control::BlockParamInt _param_altitude_mode;
control::BlockParamInt _param_source;
control::BlockParamInt _param_counter_threshold;
control::BlockParamFloat _param_max_hor_distance;
control::BlockParamFloat _param_max_ver_distance;
DEFINE_PARAMETERS(
(ParamInt<px4::params::GF_ACTION>) _param_action,
(ParamInt<px4::params::GF_ALTMODE>) _param_altitude_mode,
(ParamInt<px4::params::GF_SOURCE>) _param_source,
(ParamInt<px4::params::GF_COUNT>) _param_counter_threshold,
(ParamFloat<px4::params::GF_MAX_HOR_DIST>) _param_max_hor_distance,
(ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_max_ver_distance
)
int _outside_counter{0};
uint16_t _update_counter{0}; ///< dataman update counter: if it does not match, we polygon data was updated