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73 lines
2.7 KiB
C++
73 lines
2.7 KiB
C++
/***************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file rtl_direct_mission_land.h
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*
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* Helper class for RTL
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*
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* @author Julian Oes <julian@oes.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#pragma once
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#include "rtl_base.h"
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/rtl_time_estimate.h>
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class Navigator;
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class RtlDirectMissionLand : public RtlBase
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{
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public:
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RtlDirectMissionLand(Navigator *navigator);
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~RtlDirectMissionLand() = default;
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void on_activation() override;
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rtl_time_estimate_s calc_rtl_time_estimate() override;
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void setReturnAltMin(bool min) override { _enforce_rtl_alt = min; };
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void setRtlAlt(float alt) override {_rtl_alt = alt;};
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private:
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bool setNextMissionItem() override;
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void setActiveMissionItems() override;
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bool _needs_climbing{false}; //< Flag if climbing is required at the start
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bool _enforce_rtl_alt{false};
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float _rtl_alt{0.0f}; ///< AMSL altitude at which the vehicle should return to the land position
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};
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