bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
{
if (!subscription_array.get(ORB_ID(vehicle_local_position), _sub_vehicle_local_position)) {
return false;
}
if (!subscription_array.get(ORB_ID(vehicle_attitude), _sub_attitude)) {
return false;
}
return true;
}
bool CollisionPrevention::initializeSubscriptions(SubscriptionArray &subscription_array)
{
if (!subscription_array.get(ORB_ID(obstacle_distance), _sub_obstacle_distance)) {
return false;
}
return true;
}
bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_array)
{
if (!FlightTask::initializeSubscriptions(subscription_array)) {
return false;
}
if (!subscription_array.get(ORB_ID(position_setpoint_triplet), _sub_triplet_setpoint)) {
return false;
}
if (!subscription_array.get(ORB_ID(home_position), _sub_home_position)) {
return false;
}
if (!subscription_array.get(ORB_ID(vehicle_status), _sub_vehicle_status)) {
return false;
}
return true;
}
bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_array)
{
if (!FlightTask::initializeSubscriptions(subscription_array)) {
return false;
}
if (!subscription_array.get(ORB_ID(manual_control_setpoint), _sub_manual_control_setpoint)) {
return false;
}
return true;
}