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/**
 * @file loiter.h
 *
 * Helper class to loiter
 *
 * @author Julian Oes <julian@oes.ch>
 */

#pragma once

#include "navigator_mode.h"
#include "mission_block.h"

#include <px4_module_params.h>

class Loiter : public MissionBlock, public ModuleParams
{
public:
	Loiter(Navigator *navigator);
	~Loiter() = default;

	void on_inactive() override;
	void on_activation() override;
	void on_active() override;

	// TODO: share this with mission
	enum mission_yaw_mode {
		MISSION_YAWMODE_NONE = 0,
		MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1,
		MISSION_YAWMODE_FRONT_TO_HOME = 2,
		MISSION_YAWMODE_BACK_TO_HOME = 3,
		MISSION_YAWMODE_MAX = 4
	};

private:
	/**
	 * Use the stored reposition location of the navigator
	 * to move to a new location.
	 */
	void reposition();

	/**
	 * Set the position to hold based on the current local position
	 */
	void set_loiter_position();

	DEFINE_PARAMETERS(
		(ParamInt<px4::params::MIS_YAWMODE>) _param_yawmode
	)

	bool _loiter_pos_set{false};
};