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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/rtl.h
+11 -7
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@@ -41,15 +41,17 @@
#ifndef NAVIGATOR_RTL_H
#define NAVIGATOR_RTL_H
#include <px4_module_params.h>
#include "navigator_mode.h"
#include "mission_block.h"
class Navigator;
class RTL final : public MissionBlock
class RTL : public MissionBlock, public ModuleParams
{
public:
RTL(Navigator *navigator, const char *name);
RTL(Navigator *navigator);
~RTL() = default;
void on_inactive() override;
@@ -84,11 +86,13 @@ private:
bool _rtl_alt_min{false};
control::BlockParamFloat _param_return_alt;
control::BlockParamFloat _param_descend_alt;
control::BlockParamFloat _param_land_delay;
control::BlockParamFloat _param_rtl_min_dist;
control::BlockParamInt _param_rtl_land_type;
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RTL_RETURN_ALT>) _param_return_alt,
(ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_descend_alt,
(ParamFloat<px4::params::RTL_LAND_DELAY>) _param_land_delay,
(ParamFloat<px4::params::RTL_MIN_DIST>) _param_rtl_min_dist,
(ParamInt<px4::params::RTL_LAND_TYPE>) _param_rtl_land_type
)
};
#endif