From 02a8870a7a067452c347c6ef1ab7bac3d1ab7e1c Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sat, 11 May 2024 11:41:07 +0200
Subject: [PATCH] [ARP] Fix target angle need for TM now included in
SMController
---
src/boards/Groundstation/Automated/BoardStatus.cpp | 4 ++--
.../Groundstation/Automated/SMController/SMController.h | 5 +++++
2 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/boards/Groundstation/Automated/BoardStatus.cpp b/src/boards/Groundstation/Automated/BoardStatus.cpp
index 33e147ac5..de837b3a7 100644
--- a/src/boards/Groundstation/Automated/BoardStatus.cpp
+++ b/src/boards/Groundstation/Automated/BoardStatus.cpp
@@ -23,9 +23,9 @@
#include "BoardStatus.h"
#include <Groundstation/Automated/Actuators/Actuators.h>
-#include <Groundstation/Automated/Follower/Follower.h>
#include <Groundstation/Automated/Ports/Ethernet.h>
#include <Groundstation/Automated/Radio/Radio.h>
+#include <Groundstation/Automated/SMController/SMController.h>
#include <Groundstation/Automated/Sensors/Sensors.h>
#include <Groundstation/Common/Config/GeneralConfig.h>
#include <Groundstation/Common/HubBase.h>
@@ -70,7 +70,7 @@ void BoardStatus::run()
Actuators *actuators = ModuleManager::getInstance().get<Actuators>();
AntennaAngles targetAngles =
- ModuleManager::getInstance().get<Follower>()->getTargetAngles();
+ ModuleManager::getInstance().get<SMController>()->getTargetAngles();
mavlink_arp_tm_t tm = {0};
tm.timestamp = TimestampTimer::getTimestamp(); /*< [us] Timestamp*/
diff --git a/src/boards/Groundstation/Automated/SMController/SMController.h b/src/boards/Groundstation/Automated/SMController/SMController.h
index eaf29bf38..b7d1b6407 100644
--- a/src/boards/Groundstation/Automated/SMController/SMController.h
+++ b/src/boards/Groundstation/Automated/SMController/SMController.h
@@ -98,6 +98,11 @@ public:
*/
void moveStepperSteps(StepperList stepperId, int16_t steps);
+ /**
+ * @brief Getter for follower target angles
+ */
+ AntennaAngles getTargetAngles() { return follower.getTargetAngles(); }
+
private:
/**
* @brief Logs the current state of the FSM
--
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