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AR_WPNav: integrate PathPlanner returning path_planner_used 

Rover does not need to handle the results differently based on the planner used
This commit is contained in:
Randy Mackay 2021-03-24 13:07:09 +09:00
parent cca86c7a24
commit 92008ebb8f
1 changed files with 2 additions and 1 deletions
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3
libraries/AR_WPNav/AR_WPNav.cpp
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@ -128,7 +128,8 @@ void AR_WPNav::update(float dt)
AP_OAPathPlanner *oa = AP_OAPathPlanner::get_singleton(); AP_OAPathPlanner *oa = AP_OAPathPlanner::get_singleton();
if (oa != nullptr) { if (oa != nullptr) {
const AP_OAPathPlanner::OA_RetState oa_retstate = oa->mission_avoidance(current_loc, _origin, _destination, _oa_origin, _oa_destination); AP_OAPathPlanner::OAPathPlannerUsed path_planner_used;
const AP_OAPathPlanner::OA_RetState oa_retstate = oa->mission_avoidance(current_loc, _origin, _destination, _oa_origin, _oa_destination, path_planner_used);
switch (oa_retstate) { switch (oa_retstate) {
case AP_OAPathPlanner::OA_NOT_REQUIRED: case AP_OAPathPlanner::OA_NOT_REQUIRED:
_oa_active = false; _oa_active = false;