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add obc gps failure mode

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Thomas Gubler
2014-08-22 00:40:45 +02:00
parent 1a14ff250e
commit 752a0a5625
8 changed files with 207 additions and 48 deletions
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src/modules/navigator/gpsfailure.h
+12 -1
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@@ -43,7 +43,11 @@
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <drivers/drv_hrt.h>
#include "navigator_mode.h"
#include "mission_block.h"
@@ -65,13 +69,20 @@ public:
private:
/* Params */
control::BlockParamFloat _param_loitertime;
control::BlockParamFloat _param_openlooploiter_roll;
control::BlockParamFloat _param_openlooploiter_pitch;
control::BlockParamFloat _param_openlooploiter_thrust;
enum GPSFState {
GPSF_STATE_NONE = 0,
GPSF_STATE_LOITER = 1,
GPSF_STATE_TERMINATE = 2,
GPSF_STATE_END = 3,
} _gpsf_state;
hrt_abstime _timestamp_activation; //*< timestamp when this mode was activated */
/**
* Set the GPSF item
*/