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Using a vector to store navigation modes

This commit is contained in:
Andrew Chambers 2014-06-12 15:50:06 -07:00
parent 3b39a8a789
commit 9bb8b12f43
2 changed files with 16 additions and 17 deletions
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4
src/modules/navigator/navigator.h
View File

@ -40,6 +40,8 @@
#ifndef NAVIGATOR_H
#define NAVIGATOR_H
#include <vector>
#include <systemlib/perf_counter.h>
#include <controllib/blocks.hpp>
@ -153,6 +155,8 @@ private:
Loiter _loiter; /**< class that handles loiter */
RTL _rtl; /**< class that handles RTL */
std::vector<NavigatorMode*> _navigation_mode_vector;
bool _is_in_loiter; /**< flags if current position SP can be used to loiter */
bool _update_triplet; /**< flags if position SP triplet needs to be published */

29
src/modules/navigator/navigator_main.cpp
View File

@ -125,6 +125,11 @@ Navigator::Navigator() :
_param_loiter_radius(this, "LOITER_RAD"),
_param_takeoff_acceptance_radius(this, "TF_ACC_RAD")
{
/* Create a list of our possible navigation types */
_navigation_mode_vector.push_back(&_mission);
_navigation_mode_vector.push_back(&_loiter);
_navigation_mode_vector.push_back(&_rtl);
updateParams();
}
@ -363,23 +368,13 @@ Navigator::task_main()
break;
}
/* TODO: make list of modes and loop through it */
if (_navigation_mode == &_mission) {
_update_triplet = _mission.on_active(&_pos_sp_triplet);
} else {
_mission.on_inactive();
}
if (_navigation_mode == &_rtl) {
_update_triplet = _rtl.on_active(&_pos_sp_triplet);
} else {
_rtl.on_inactive();
}
if (_navigation_mode == &_loiter) {
_update_triplet = _loiter.on_active(&_pos_sp_triplet);
} else {
_loiter.on_inactive();
/* iterate through navigation modes and set active/inactive for each */
for(unsigned int i = 0; i < _navigation_mode_vector.size(); i++) {
if (_navigation_mode == _navigation_mode_vector[i]) {
_update_triplet = _navigation_mode_vector[i]->on_active(&_pos_sp_triplet);
} else {
_navigation_mode_vector[i]->on_inactive();
}
}
/* if nothing is running, set position setpoint triplet invalid */