Make UE backend compile (Pablo's instructions)

grvcTeam · Dec 4, 2019 · 604c542 · 604c542
1 parent 31a3b26
commit 604c542
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/ual_backend_ue/CMakeLists.txt b/ual_backend_ue/CMakeLists.txt
@@ -132,7 +132,9 @@ add_library(${PROJECT_NAME}
 if(ENABLE_UAL_UE)
   target_compile_definitions(${PROJECT_NAME} PUBLIC UAL_UE_COMPATIBILITY)
   target_include_directories(${PROJECT_NAME} PUBLIC "/usr/local/include/AirSim")
-  target_link_libraries(${PROJECT_NAME} LINK_PUBLIC c++)
+  target_include_directories(${PROJECT_NAME} PUBLIC "/usr/local/include/AirSim/deps/rpclib/include")
+  target_include_directories(${PROJECT_NAME} PUBLIC "/usr/local/include/AirSim/deps/MavLinkCom/include")
+  target_include_directories(${PROJECT_NAME} PUBLIC "/usr/local/include/AirSim/deps/eigen3")
   target_link_libraries(${PROJECT_NAME} LINK_PUBLIC AirLib)
   target_link_libraries(${PROJECT_NAME} LINK_PUBLIC MavLinkCom)
   target_link_libraries(${PROJECT_NAME} LINK_PUBLIC rpc)

diff --git a/ual_backend_ue/src/ual_backend_ue.cpp b/ual_backend_ue/src/ual_backend_ue.cpp
@@ -51,7 +51,7 @@ BackendUE::BackendUE() : Backend()
     airsim_client_.enableApiControl(true);
     airsim_client_.armDisarm(true);
 
-    state_ = LANDED_ARMED;
+    state_ = uav_abstraction_layer::State::LANDED_ARMED;
 
 }
 
@@ -151,13 +151,13 @@ void BackendUE::takeOff(double _height) {
     /// 666 TODO: Check altitude
     airsim_client_.takeoffAsync()->waitOnLastTask();
 
-    state_ = FLYING_AUTO;
+    state_ = uav_abstraction_layer::State::FLYING_AUTO;
 }
 
 void BackendUE::land() {
     airsim_client_.landAsync()->waitOnLastTask();
 
-    state_ = LANDED_ARMED;
+    state_ = uav_abstraction_layer::State::LANDED_ARMED;
 }
 
 void BackendUE::setVelocity(const Velocity& _vel) {