Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

src/modules/navigator/loiter.cpp

@@ -59,7 +59,7 @@ Loiter::Loiter(Navigator *navigator, const char *name) :
 	/* load initial params */
 	updateParams();
 	/* initial reset */
-	reset();
+	on_inactive();
 }
 
 Loiter::~Loiter()
@@ -67,14 +67,14 @@ Loiter::~Loiter()
 }
 
 bool
-Loiter::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	/* set loiter item, don't reuse an existing position setpoint */
 	return set_loiter_item(false, pos_sp_triplet);;
 }
 
 void
-Loiter::reset()
+Loiter::on_inactive()
 {
 }
 

src/modules/navigator/loiter.h

@@ -63,12 +63,12 @@ public:
 	/**
 	 * This function is called while the mode is inactive
 	 */
-	bool update(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_inactive();
 
 	/**
 	 * This function is called while the mode is active
 	 */
-	void reset();
+	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
 };
 
 #endif

src/modules/navigator/mission.cpp

@@ -72,7 +72,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	/* load initial params */
 	updateParams();
 	/* set initial mission items */
-	reset();
+	on_inactive();
 
 }
 
@@ -81,7 +81,7 @@ Mission::~Mission()
 }
 
 void
-Mission::reset()
+Mission::on_inactive()
 {
 	_first_run = true;
 
@@ -100,7 +100,7 @@ Mission::reset()
 }
 
 bool
-Mission::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	bool updated = false;
 

src/modules/navigator/mission.h

@@ -78,12 +78,12 @@ public:
 	/**
 	 * This function is called while the mode is inactive
 	 */
-	virtual void reset();
+	virtual void on_inactive();
 
 	/**
 	 * This function is called while the mode is active
 	 */
-	virtual bool update(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
 
 private:
 	/**

src/modules/navigator/navigator_main.cpp

@@ -358,8 +358,8 @@ Navigator::task_main()
 				_navigation_mode = &_loiter;
 				break;
 			case NAVIGATION_STATE_AUTO_RTL:
-			case NAVIGATION_STATE_AUTO_RTL_RC:
-			case NAVIGATION_STATE_AUTO_RTL_DL:
+			case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
+			case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
 				_navigation_mode = &_rtl;
 				break;
 			case NAVIGATION_STATE_LAND:
@@ -372,21 +372,21 @@ Navigator::task_main()
 
 		/* TODO: make list of modes and loop through it */
 		if (_navigation_mode == &_mission) {
-			_update_triplet = _mission.update(&_pos_sp_triplet);
+			_update_triplet = _mission.on_active(&_pos_sp_triplet);
 		} else {
-			_mission.reset();
+			_mission.on_inactive();
 		}
 
 		if (_navigation_mode == &_rtl) {
-			_update_triplet = _rtl.update(&_pos_sp_triplet);
+			_update_triplet = _rtl.on_active(&_pos_sp_triplet);
 		} else {
-			_rtl.reset();
+			_rtl.on_inactive();
 		}
 
 		if (_navigation_mode == &_loiter) {
-			_update_triplet = _loiter.update(&_pos_sp_triplet);
+			_update_triplet = _loiter.on_active(&_pos_sp_triplet);
 		} else {
-			_loiter.reset();
+			_loiter.on_inactive();
 		}
 
 		/* if nothing is running, set position setpoint triplet invalid */

src/modules/navigator/navigator_mode.cpp

@@ -48,7 +48,7 @@ NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
 	/* load initial params */
 	updateParams();
 	/* set initial mission items */
-	reset();
+	on_inactive();
 }
 
 NavigatorMode::~NavigatorMode()
@@ -56,13 +56,13 @@ NavigatorMode::~NavigatorMode()
 }
 
 void
-NavigatorMode::reset()
+NavigatorMode::on_inactive()
 {
 	_first_run = true;
 }
 
 bool
-NavigatorMode::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+NavigatorMode::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	pos_sp_triplet->current.valid = false;
 	_first_run = false;

src/modules/navigator/navigator_mode.h

@@ -68,7 +68,7 @@ public:
 	/**
 	 * This function is called while the mode is inactive
 	 */
-	virtual void reset();
+	virtual void on_inactive();
 
 	/**
 	 * This function is called while the mode is active
@@ -76,7 +76,7 @@ public:
 	 * @param position setpoint triplet to set
 	 * @return true if position setpoint triplet has been changed
 	 */
-	virtual bool update(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
 
 protected:
 	Navigator *_navigator;

src/modules/navigator/rtl.cpp

@@ -64,7 +64,7 @@ RTL::RTL(Navigator *navigator, const char *name) :
 	/* load initial params */
 	updateParams();
 	/* initial reset */
-	reset();
+	on_inactive();
 }
 
 RTL::~RTL()
@@ -72,14 +72,14 @@ RTL::~RTL()
 }
 
 void
-RTL::reset()
+RTL::on_inactive()
 {
 	_first_run = true;
 	_rtl_state = RTL_STATE_NONE;
 }
 
 bool
-RTL::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	bool updated = false;
 

src/modules/navigator/rtl.h

@@ -70,7 +70,7 @@ public:
 	/**
 	 * This function is called while the mode is inactive
 	 */
-	void reset();
+	void on_inactive();
 
 	/**
 	 * This function is called while the mode is active
@@ -78,7 +78,7 @@ public:
 	 * @param position setpoint triplet that needs to be set
 	 * @return true if updated
 	 */
-	bool update(position_setpoint_triplet_s *pos_sp_triplet);
+	bool on_active(position_setpoint_triplet_s *pos_sp_triplet);
 
 
 private: