forked from Archive/PX4-Autopilot
navigator: wrong mission topic was copied, clearer naming of offboard mission now
This commit is contained in:
parent
c77c5c878b
commit
a4b10bab30
|
@ -832,10 +832,10 @@ void Mavlink::publish_mission()
|
|||
{
|
||||
/* Initialize mission publication if necessary */
|
||||
if (_mission_pub < 0) {
|
||||
_mission_pub = orb_advertise(ORB_ID(mission), &mission);
|
||||
_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(mission), _mission_pub, &mission);
|
||||
orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -510,7 +510,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
|
|||
{
|
||||
struct mission_s offboard_mission;
|
||||
|
||||
if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) {
|
||||
if (orb_copy(ORB_ID(offboard_mission), _offboard_mission_sub, &offboard_mission) == OK) {
|
||||
|
||||
/* Check mission feasibility, for now do not handle the return value,
|
||||
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
|
||||
|
@ -543,7 +543,7 @@ Navigator::onboard_mission_update()
|
|||
{
|
||||
struct mission_s onboard_mission;
|
||||
|
||||
if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
|
||||
if (orb_copy(ORB_ID(onboard_mission), _onboard_mission_sub, &onboard_mission) == OK) {
|
||||
|
||||
_mission.set_onboard_mission_count(onboard_mission.count);
|
||||
_mission.set_current_onboard_mission_index(onboard_mission.current_index);
|
||||
|
@ -611,7 +611,7 @@ Navigator::task_main()
|
|||
* do subscriptions
|
||||
*/
|
||||
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
|
||||
_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
|
||||
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
|
||||
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
|
||||
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
|
||||
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
|
|
|
@ -127,7 +127,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
|
|||
ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
|
||||
|
||||
#include "topics/mission.h"
|
||||
ORB_DEFINE(mission, struct mission_s);
|
||||
ORB_DEFINE(offboard_mission, struct mission_s);
|
||||
ORB_DEFINE(onboard_mission, struct mission_s);
|
||||
|
||||
#include "topics/mission_result.h"
|
||||
|
|
|
@ -105,7 +105,7 @@ struct mission_s
|
|||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(mission);
|
||||
ORB_DECLARE(offboard_mission);
|
||||
ORB_DECLARE(onboard_mission);
|
||||
|
||||
#endif
|
||||
|
|
Loading…
Reference in New Issue