navigator: lot's of cleanup (WIP)

src/modules/navigator/rtl.h

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file navigator_mission.h
+ * Helper class to access missions
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef NAVIGATOR_RTL_H
+#define NAVIGATOR_RTL_H
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <uORB/topics/mission.h>
+#include <uORB/topics/home_position.h>
+#include <uORB/topics/vehicle_global_position.h>
+
+class RTL : public control::SuperBlock
+{
+public:
+	/**
+	 * Constructor
+	 */
+	RTL();
+
+	/**
+	 * Destructor
+	 */
+	~RTL();
+
+	void		set_home_position(const home_position_s *home_position);
+
+	bool		get_current_rtl_item(const vehicle_global_position_s *global_position, mission_item_s *new_mission_item);
+	bool		get_next_rtl_item(mission_item_s *mission_item);
+
+	void		move_to_next();
+
+private:
+	int 		_mavlink_fd;
+
+	enum RTLState {
+		RTL_STATE_NONE = 0,
+		RTL_STATE_CLIMB,
+		RTL_STATE_RETURN,
+		RTL_STATE_DESCEND,
+		RTL_STATE_LAND,
+		RTL_STATE_FINISHED,
+	}		_rtl_state;
+
+	home_position_s _home_position;
+	float		_loiter_radius;
+	float		_acceptance_radius;
+
+
+	control::BlockParamFloat _param_return_alt;
+	control::BlockParamFloat _param_descend_alt;
+	control::BlockParamFloat _param_land_delay;
+};
+
+#endif