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geofence: can select gps instead of global position

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This commit is contained in:
Thomas Gubler
2014-08-24 11:14:15 +02:00
parent 3c10b78e20
commit 8262739b62
5 changed files with 89 additions and 12 deletions
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9
src/modules/navigator/navigator.h
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@@ -51,6 +51,7 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -129,6 +130,7 @@ public:
struct vehicle_status_s* get_vstatus() { return &_vstatus; }
struct vehicle_control_mode_s* get_control_mode() { return &_control_mode; }
struct vehicle_global_position_s* get_global_position() { return &_global_pos; }
struct vehicle_gps_position_s* get_gps_position() { return &_gps_pos; }
struct sensor_combined_s* get_sensor_combined() { return &_sensor_combined; }
struct home_position_s* get_home_position() { return &_home_pos; }
struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; }
@@ -152,6 +154,7 @@ private:
int _mavlink_fd; /**< the file descriptor to send messages over mavlink */
int _global_pos_sub; /**< global position subscription */
int _gps_pos_sub; /**< gps position subscription */
int _sensor_combined_sub; /**< sensor combined subscription */
int _home_pos_sub; /**< home position subscription */
int _vstatus_sub; /**< vehicle status subscription */
@@ -171,6 +174,7 @@ private:
vehicle_status_s _vstatus; /**< vehicle status */
vehicle_control_mode_s _control_mode; /**< vehicle control mode */
vehicle_global_position_s _global_pos; /**< global vehicle position */
vehicle_gps_position_s _gps_pos; /**< gps position */
sensor_combined_s _sensor_combined; /**< sensor values */
home_position_s _home_pos; /**< home position for RTL */
mission_item_s _mission_item; /**< current mission item */
@@ -216,6 +220,11 @@ private:
*/
void global_position_update();
/**
* Retrieve gps position
*/
void gps_position_update();
/**
* Retrieve sensor values
*/