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fix mission topic bug, clearer naming #838

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merged 1 commit into from
Apr 18, 2014
Merged

fix mission topic bug, clearer naming #838

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4 changes: 2 additions & 2 deletions src/modules/mavlink/mavlink_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
}

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6 changes: 3 additions & 3 deletions src/modules/navigator/navigator_main.cpp
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Expand Up @@ -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 */
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -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));
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2 changes: 1 addition & 1 deletion src/modules/uORB/objects_common.cpp
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Expand Up @@ -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"
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2 changes: 1 addition & 1 deletion src/modules/uORB/topics/mission.h
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Expand Up @@ -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