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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/mission.h
+10 -7
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@@ -53,6 +53,7 @@
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
#include <px4_module_params.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
@@ -64,10 +65,10 @@
class Navigator;
class Mission final : public MissionBlock
class Mission : public MissionBlock, public ModuleParams
{
public:
Mission(Navigator *navigator, const char *name);
Mission(Navigator *navigator);
~Mission() override = default;
void on_inactive() override;
@@ -227,11 +228,13 @@ private:
*/
bool find_offboard_land_start();
control::BlockParamFloat _param_dist_1wp;
control::BlockParamFloat _param_dist_between_wps;
control::BlockParamInt _param_altmode;
control::BlockParamInt _param_yawmode;
control::BlockParamInt _param_mnt_yaw_ctl;
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MIS_DIST_1WP>) _param_dist_1wp,
(ParamFloat<px4::params::MIS_DIST_WPS>) _param_dist_between_wps,
(ParamInt<px4::params::MIS_ALTMODE>) _param_altmode,
(ParamInt<px4::params::MIS_YAWMODE>) _param_yawmode,
(ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mnt_yaw_ctl
)
struct mission_s _offboard_mission {};