Navigator move get_time_inside and cleanup (#7062)

src/modules/navigator/mission_block.h

@@ -41,18 +41,16 @@
 #ifndef NAVIGATOR_MISSION_BLOCK_H
 #define NAVIGATOR_MISSION_BLOCK_H
 
-#include <drivers/drv_hrt.h>
+#include "navigator_mode.h"
 
 #include <navigator/navigation.h>
-
-#include <uORB/topics/mission.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/vtol_vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/follow_target.h>
-
-#include "navigator_mode.h"
+#include <uORB/topics/mission.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vtol_vehicle_status.h>
 
 class Navigator;
 
@@ -63,15 +61,11 @@ public:
 	 * Constructor
 	 */
 	MissionBlock(Navigator *navigator, const char *name);
+	~MissionBlock() = default;
 
 	MissionBlock(const MissionBlock &) = delete;
 	MissionBlock &operator=(const MissionBlock &) = delete;
 
-	/**
-	 * Destructor
-	 */
-	virtual ~MissionBlock();
-
 	/* TODO: move this to a helper class in navigator */
 	static bool item_contains_position(const struct mission_item_s *item);
 
@@ -81,6 +75,7 @@ protected:
 	 * @return true if successfully reached
 	 */
 	bool is_mission_item_reached();
+
 	/**
 	 * Reset all reached flags
 	 */
@@ -121,28 +116,31 @@ protected:
 	 */
 	void set_idle_item(struct mission_item_s *item);
 
-	/**
-	 * Convert a mission item to a command
-	 */
-	void mission_item_to_vehicle_command(const struct mission_item_s *item, struct vehicle_command_s *cmd);
-
 	/**
 	 * Set follow_target item
 	 */
 	void set_follow_target_item(struct mission_item_s *item, float min_clearance, follow_target_s &target, float yaw);
 
+	/**
+	 * Convert a mission item to a command
+	 */
+	void mission_item_to_vehicle_command(const struct mission_item_s *item, struct vehicle_command_s *cmd);
+
 	void issue_command(const struct mission_item_s *item);
 
-	mission_item_s _mission_item;
-	bool _waypoint_position_reached;
-	bool _waypoint_yaw_reached;
-	hrt_abstime _time_first_inside_orbit;
-	hrt_abstime _action_start;
-	hrt_abstime _time_wp_reached;
+	float get_time_inside(const struct mission_item_s &item);
 
-	actuator_controls_s _actuators;
-	orb_advert_t    _actuator_pub;
-	orb_advert_t	_cmd_pub;
+	mission_item_s _mission_item{};
+
+	bool _waypoint_position_reached{false};
+	bool _waypoint_yaw_reached{false};
+
+	hrt_abstime _time_first_inside_orbit{0};
+	hrt_abstime _action_start{0};
+	hrt_abstime _time_wp_reached{0};
+
+	actuator_controls_s _actuators{};
+	orb_advert_t    _actuator_pub{nullptr};
 
 	control::BlockParamFloat _param_loiter_min_alt;
 	control::BlockParamFloat _param_yaw_timeout;