mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 03:23:37 +08:00
70 lines
2.5 KiB
C++
70 lines
2.5 KiB
C++
/***************************************************************************
|
|
*
|
|
* Copyright (c) 2023 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 rtl_mission_fast_reverse.h
|
|
*
|
|
* Helper class for RTL
|
|
*
|
|
* @author Julian Oes <julian@oes.ch>
|
|
* @author Anton Babushkin <anton.babushkin@me.com>
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "rtl_base.h"
|
|
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/topics/home_position.h>
|
|
#include <uORB/topics/rtl_time_estimate.h>
|
|
|
|
class Navigator;
|
|
|
|
class RtlMissionFastReverse : public RtlBase
|
|
{
|
|
public:
|
|
RtlMissionFastReverse(Navigator *navigator);
|
|
~RtlMissionFastReverse() = default;
|
|
|
|
void on_activation() override;
|
|
void on_active() override;
|
|
|
|
rtl_time_estimate_s calc_rtl_time_estimate() override;
|
|
|
|
private:
|
|
bool setNextMissionItem() override;
|
|
void setActiveMissionItems() override;
|
|
void handleLanding(WorkItemType &new_work_item_type);
|
|
|
|
uORB::SubscriptionData<home_position_s> _home_pos_sub{ORB_ID(home_position)}; /**< home position subscription */
|
|
};
|