mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-02 09:31:36 +08:00
Silvan Fuhrer
605d4c47b9
This fixes the issue where the init happended in the initializer list, at which point the params were not yet initialized and thus resulted in random values for the init values of _mission_item.loiter_radius and .acceptance_radius. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
83 lines
2.7 KiB
C++
83 lines
2.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2014 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 navigator_mode.h
|
|
*
|
|
* Base class for different modes in navigator
|
|
*
|
|
* @author Julian Oes <julian@oes.ch>
|
|
* @author Anton Babushkin <anton.babushkin@me.com>
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
class Navigator;
|
|
|
|
class NavigatorMode
|
|
{
|
|
public:
|
|
NavigatorMode(Navigator *navigator);
|
|
virtual ~NavigatorMode() = default;
|
|
NavigatorMode(const NavigatorMode &) = delete;
|
|
NavigatorMode &operator=(const NavigatorMode &) = delete;
|
|
virtual void initialize() = 0;
|
|
|
|
void run(bool active);
|
|
|
|
/**
|
|
* This function is called while the mode is inactive
|
|
*/
|
|
virtual void on_inactive();
|
|
|
|
/**
|
|
* This function is called one time when mode becomes active, pos_sp_triplet must be initialized here
|
|
*/
|
|
virtual void on_activation();
|
|
|
|
/**
|
|
* This function is called one time when mode becomes inactive
|
|
*/
|
|
virtual void on_inactivation();
|
|
|
|
/**
|
|
* This function is called while the mode is active
|
|
*/
|
|
virtual void on_active();
|
|
|
|
protected:
|
|
Navigator *_navigator{nullptr};
|
|
|
|
private:
|
|
bool _active{false};
|
|
};
|