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navigator: mission and loiter working now

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This commit is contained in:
Julian Oes
2014-06-06 00:55:18 +02:00
parent 425b454a87
commit 7af1103bf3
7 changed files with 202 additions and 47 deletions
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src/modules/navigator/mission.h
+10 -10
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@@ -32,6 +32,7 @@
****************************************************************************/
/**
* @file mission.h
*
* Helper class to access missions
*
* @author Julian Oes <julian@oes.ch>
@@ -58,7 +59,7 @@
class Navigator;
class __EXPORT Mission : public control::SuperBlock
class Mission : public control::SuperBlock
{
public:
/**
@@ -99,17 +100,12 @@ protected:
/**
* Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
* @return true if setpoint has changed
*/
void set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet);
bool set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet);
class Navigator *_navigator;
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
hrt_abstime _time_first_inside_orbit;
bool _first_run;
private:
/**
* Update onboard mission topic
@@ -183,6 +179,12 @@ private:
*/
void publish_mission_result();
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
hrt_abstime _time_first_inside_orbit;
bool _first_run;
control::BlockParamFloat _param_onboard_enabled;
control::BlockParamFloat _param_loiter_radius;
@@ -203,8 +205,6 @@ private:
MISSION_TYPE_OFFBOARD
} _mission_type;
bool _loiter_set;
MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
};