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mc_pos_control: separate out flight_tasks (into FlightModeManager)

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Matthias Grob
2020-12-30 10:25:08 -05:00
committed by Daniel Agar
parent 7545249215
commit f52bad87e2
6 changed files with 29 additions and 417 deletions
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src/modules/flight_mode_manager/FlightModeManager.hpp
+2 -1
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@@ -84,6 +84,7 @@ private:
WeatherVane *_wv_controller{nullptr};
int8_t _old_landing_gear_position{landing_gear_s::GEAR_KEEP};
int _task_failure_count{0};
uint8_t _last_vehicle_nav_state{0};
perf_counter_t _loop_perf; ///< loop duration performance counter
hrt_abstime _time_stamp_last_loop{0}; ///< time stamp of last loop iteration
@@ -98,7 +99,7 @@ private:
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
uORB::Publication<vehicle_local_position_setpoint_s> _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)};
uORB::PublicationQueued<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_constraints_s> _vehicle_constraints_pub{ORB_ID(vehicle_constraints)};
DEFINE_PARAMETERS(