Navigator: Support takeoff command

src/modules/navigator/takeoff.cpp

@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   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 Takeoff.cpp
+ *
+ * Helper class to Takeoff
+ *
+ * @author Lorenz Meier <lorenz@px4.io
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <math.h>
+#include <fcntl.h>
+
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+
+#include "Takeoff.h"
+#include "navigator.h"
+
+Takeoff::Takeoff(Navigator *navigator, const char *name) :
+	MissionBlock(navigator, name),
+	_param_min_alt(this, "MIS_TAKEOFF_ALT", false)
+{
+	/* load initial params */
+	updateParams();
+}
+
+Takeoff::~Takeoff()
+{
+}
+
+void
+Takeoff::on_inactive()
+{
+}
+
+void
+Takeoff::on_activation()
+{
+	/* set current mission item to Takeoff */
+	set_loiter_item(&_mission_item, _param_min_alt.get());
+
+	/* convert mission item to current setpoint */
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+	pos_sp_triplet->previous.valid = false;
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+	pos_sp_triplet->next.valid = false;
+
+	_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
+
+	_navigator->set_position_setpoint_triplet_updated();
+}
+
+void
+Takeoff::on_active()
+{
+}