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Switched to using c-type arrays

This commit is contained in:
Andrew Chambers 2014-06-12 16:22:04 -07:00
parent 9bb8b12f43
commit e53c2ab985
2 changed files with 10 additions and 10 deletions
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6
src/modules/navigator/navigator.h
View File

@ -40,8 +40,6 @@
#ifndef NAVIGATOR_H
#define NAVIGATOR_H
#include <vector>
#include <systemlib/perf_counter.h>
#include <controllib/blocks.hpp>
@ -60,6 +58,8 @@
#include "rtl.h"
#include "geofence.h"
#define NAVIGATOR_MODE_ARRAY_SIZE 3
class Navigator : public control::SuperBlock
{
public:
@ -155,7 +155,7 @@ private:
Loiter _loiter; /**< class that handles loiter */
RTL _rtl; /**< class that handles RTL */
std::vector<NavigatorMode*> _navigation_mode_vector;
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */
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 */

14
src/modules/navigator/navigator_main.cpp
View File

@ -126,9 +126,9 @@ Navigator::Navigator() :
_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);
_navigation_mode_array[0] = &_mission;
_navigation_mode_array[1] = &_loiter;
_navigation_mode_array[2] = &_rtl;
updateParams();
}
@ -369,11 +369,11 @@ Navigator::task_main()
}
/* 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);
for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
if (_navigation_mode == _navigation_mode_array[i]) {
_update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet);
} else {
_navigation_mode_vector[i]->on_inactive();
_navigation_mode_array[i]->on_inactive();
}
}