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 -- GitLab