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104 lines
3.0 KiB
C++
104 lines
3.0 KiB
C++
/***************************************************************************
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*
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* Copyright (c) 2013-2017 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.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 <px4_module_params.h>
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#include "navigator_mode.h"
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#include "mission_block.h"
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class Navigator;
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class RTL : public MissionBlock, public ModuleParams
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{
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public:
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enum RTLType {
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RTL_HOME = 0,
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RTL_LAND,
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RTL_MISSION,
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};
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RTL(Navigator *navigator);
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~RTL() = 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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void set_return_alt_min(bool min);
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int rtl_type() const;
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private:
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/**
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* Set the RTL item
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*/
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void set_rtl_item();
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/**
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* Move to next RTL item
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*/
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void advance_rtl();
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enum RTLState {
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RTL_STATE_NONE = 0,
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RTL_STATE_CLIMB,
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RTL_STATE_RETURN,
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RTL_STATE_TRANSITION_TO_MC,
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RTL_STATE_DESCEND,
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RTL_STATE_LOITER,
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RTL_STATE_LAND,
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RTL_STATE_LANDED,
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} _rtl_state{RTL_STATE_NONE};
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bool _rtl_alt_min{false};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::RTL_RETURN_ALT>) _param_return_alt,
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(ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_descend_alt,
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(ParamFloat<px4::params::RTL_LAND_DELAY>) _param_land_delay,
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(ParamFloat<px4::params::RTL_MIN_DIST>) _param_rtl_min_dist,
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(ParamInt<px4::params::RTL_TYPE>) _param_rtl_type
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)
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};
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