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Nacho Carnicero
e6670d7926
* Drone does not change orientation while in LOITER mode if MIS_YAWMODE=0 * Fix code style * Some more code style fixes * Format checks passed
89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
/***************************************************************************
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*
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* Copyright (c) 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 loiter.h
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*
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* Helper class to loiter
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#ifndef NAVIGATOR_LOITER_H
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#define NAVIGATOR_LOITER_H
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#include <controllib/blocks.hpp>
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#include <controllib/block/BlockParam.hpp>
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#include "navigator_mode.h"
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#include "mission_block.h"
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class Loiter : public MissionBlock
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{
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public:
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Loiter(Navigator *navigator, const char *name);
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~Loiter();
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virtual void on_inactive();
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virtual void on_activation();
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virtual void on_active();
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enum mission_yaw_mode {
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MISSION_YAWMODE_NONE = 0,
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MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1,
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MISSION_YAWMODE_FRONT_TO_HOME = 2,
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MISSION_YAWMODE_BACK_TO_HOME = 3,
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MISSION_YAWMODE_MAX = 4
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};
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private:
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/**
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* Use the stored reposition location of the navigator
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* to move to a new location.
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*/
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void reposition();
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/**
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* Set the position to hold based on the current local position
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*/
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void set_loiter_position();
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control::BlockParamFloat _param_min_alt;
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control::BlockParamInt _param_yawmode;
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bool _loiter_pos_set;
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};
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#endif
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