dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

geofence: make better use of Block class for updating parameters

This commit is contained in:
Thomas Gubler 2014-03-08 19:15:45 +01:00
parent 501dc0cfa7
commit be140eab59
2 changed files with 7 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/navigator/geofence.cpp
View File

@ -55,11 +55,13 @@
#endif #endif
static const int ERROR = -1; static const int ERROR = -1;
Geofence::Geofence() : _fence_pub(-1), Geofence::Geofence() :
SuperBlock(NULL, "GF"),
_fence_pub(-1),
_altitude_min(0), _altitude_min(0),
_altitude_max(0), _altitude_max(0),
_verticesCount(0), _verticesCount(0),
param_geofence_on(NULL, "GF_ON", false) param_geofence_on(this, "ON")
{ {
/* Load initial params */ /* Load initial params */
updateParams(); updateParams();
@ -292,8 +294,3 @@ int Geofence::clearDm()
{ {
dm_clear(DM_KEY_FENCE_POINTS); dm_clear(DM_KEY_FENCE_POINTS);
} }
void Geofence::updateParams()
{
param_geofence_on.update();
}

6
src/modules/navigator/geofence.h
View File

@ -41,11 +41,13 @@
#define GEOFENCE_H_ #define GEOFENCE_H_
#include <uORB/topics/fence.h> #include <uORB/topics/fence.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp> #include <controllib/block/BlockParam.hpp>
#define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt" #define GEOFENCE_FILENAME "/fs/microsd/etc/geofence.txt"
class Geofence { class Geofence : public control::SuperBlock
{
private: private:
orb_advert_t _fence_pub; /**< publish fence topic */ orb_advert_t _fence_pub; /**< publish fence topic */
@ -85,8 +87,6 @@ public:
int loadFromFile(const char *filename); int loadFromFile(const char *filename);
bool isEmpty() {return _verticesCount == 0;} bool isEmpty() {return _verticesCount == 0;}
void updateParams();
}; };