mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 10:17:34 +08:00
Anton Babushkin
111 lines
3.1 KiB
C++
111 lines
3.1 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 navigator_rtl.h
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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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#ifndef NAVIGATOR_RTL_H
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#define NAVIGATOR_RTL_H
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#include <controllib/blocks.hpp>
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#include <controllib/block/BlockParam.hpp>
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#include <uORB/topics/mission.h>
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#include <uORB/topics/mission.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/vehicle_global_position.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
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{
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public:
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/**
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* Constructor
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*/
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RTL(Navigator *navigator, const char *name);
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/**
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* Destructor
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*/
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~RTL();
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/**
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* This function is called while the mode is inactive
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*/
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void on_inactive();
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/**
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* This function is called while the mode is active
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*
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* @param position setpoint triplet that needs to be set
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* @return true if updated
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*/
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bool on_active(position_setpoint_triplet_s *pos_sp_triplet);
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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(position_setpoint_triplet_s *pos_sp_triplet);
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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_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;
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control::BlockParamFloat _param_return_alt;
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control::BlockParamFloat _param_descend_alt;
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control::BlockParamFloat _param_land_delay;
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};
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#endif
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