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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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88 lines
2.8 KiB
C++
88 lines
2.8 KiB
C++
/***************************************************************************
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*
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* Copyright (c) 2013-2014 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 gpsfailure.h
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* Helper class for Data Link Loss Mode according to the OBC rules
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#pragma once
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#include <px4_module_params.h>
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#include "mission_block.h"
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class Navigator;
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class GpsFailure : public MissionBlock, public ModuleParams
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{
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public:
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GpsFailure(Navigator *navigator);
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~GpsFailure() = default;
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void on_inactive() override;
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void on_activation() override;
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void on_active() override;
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private:
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::NAV_GPSF_LT>) _param_loitertime,
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(ParamFloat<px4::params::NAV_GPSF_R>) _param_openlooploiter_roll,
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(ParamFloat<px4::params::NAV_GPSF_P>) _param_openlooploiter_pitch,
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(ParamFloat<px4::params::NAV_GPSF_TR>) _param_openlooploiter_thrust
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)
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enum GPSFState {
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GPSF_STATE_NONE = 0,
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GPSF_STATE_LOITER = 1,
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GPSF_STATE_TERMINATE = 2,
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GPSF_STATE_END = 3,
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} _gpsf_state{GPSF_STATE_NONE};
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hrt_abstime _timestamp_activation{0}; //*< timestamp when this mode was activated */
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orb_advert_t _att_sp_pub{nullptr};
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/**
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* Set the GPSF item
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*/
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void set_gpsf_item();
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/**
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* Move to next GPSF item
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*/
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void advance_gpsf();
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};
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