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Commit 02a8870a authored by Federico Lolli's avatar Federico Lolli
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[ARP] Fix target angle need for TM now included in SMController

parent 57eddd22
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1 merge request!39Draft: Integration of core logic in ARP State Machine Controller
Pipeline #8352 failed
...@@ -23,9 +23,9 @@ ...@@ -23,9 +23,9 @@
#include "BoardStatus.h" #include "BoardStatus.h"
#include <Groundstation/Automated/Actuators/Actuators.h> #include <Groundstation/Automated/Actuators/Actuators.h>
#include <Groundstation/Automated/Follower/Follower.h>
#include <Groundstation/Automated/Ports/Ethernet.h> #include <Groundstation/Automated/Ports/Ethernet.h>
#include <Groundstation/Automated/Radio/Radio.h> #include <Groundstation/Automated/Radio/Radio.h>
#include <Groundstation/Automated/SMController/SMController.h>
#include <Groundstation/Automated/Sensors/Sensors.h> #include <Groundstation/Automated/Sensors/Sensors.h>
#include <Groundstation/Common/Config/GeneralConfig.h> #include <Groundstation/Common/Config/GeneralConfig.h>
#include <Groundstation/Common/HubBase.h> #include <Groundstation/Common/HubBase.h>
...@@ -70,7 +70,7 @@ void BoardStatus::run() ...@@ -70,7 +70,7 @@ void BoardStatus::run()
Actuators *actuators = ModuleManager::getInstance().get<Actuators>(); Actuators *actuators = ModuleManager::getInstance().get<Actuators>();
AntennaAngles targetAngles = AntennaAngles targetAngles =
ModuleManager::getInstance().get<Follower>()->getTargetAngles(); ModuleManager::getInstance().get<SMController>()->getTargetAngles();
mavlink_arp_tm_t tm = {0}; mavlink_arp_tm_t tm = {0};
tm.timestamp = TimestampTimer::getTimestamp(); /*< [us] Timestamp*/ tm.timestamp = TimestampTimer::getTimestamp(); /*< [us] Timestamp*/
......
...@@ -98,6 +98,11 @@ public: ...@@ -98,6 +98,11 @@ public:
*/ */
void moveStepperSteps(StepperList stepperId, int16_t steps); void moveStepperSteps(StepperList stepperId, int16_t steps);
/**
* @brief Getter for follower target angles
*/
AntennaAngles getTargetAngles() { return follower.getTargetAngles(); }
private: private:
/** /**
* @brief Logs the current state of the FSM * @brief Logs the current state of the FSM
......
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