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93 lines
3.1 KiB
C++
93 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 datalinkloss.h
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* Helper class for Data Link Loss Mode acording 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 "navigator_mode.h"
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#include "mission_block.h"
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class Navigator;
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class DataLinkLoss : public MissionBlock, public ModuleParams
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{
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public:
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DataLinkLoss(Navigator *navigator);
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~DataLinkLoss() = 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_DLL_CH_T>) _param_nav_dll_ch_t,
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(ParamInt<px4::params::NAV_DLL_CH_LAT>) _param_nav_dll_ch_lat, // * 1e7
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(ParamInt<px4::params::NAV_DLL_CH_LON>) _param_nav_dll_ch_lon, // * 1e7
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(ParamFloat<px4::params::NAV_DLL_CH_ALT>) _param_nav_dll_ch_alt,
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(ParamInt<px4::params::NAV_AH_LAT>) _param_nav_ah_lat, // * 1e7
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(ParamInt<px4::params::NAV_AH_LON>) _param_nav_ah_lon, // * 1e7
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(ParamFloat<px4::params::NAV_AH_ALT>) _param_nav_ah_alt,
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(ParamFloat<px4::params::NAV_DLL_AH_T>) _param_nav_dll_ah_t,
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(ParamInt<px4::params::NAV_DLL_N>) _param_nav_dll_n,
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(ParamInt<px4::params::NAV_DLL_CHSK>) _param_nav_dll_chsk
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)
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enum DLLState {
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DLL_STATE_NONE = 0,
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DLL_STATE_FLYTOCOMMSHOLDWP = 1,
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DLL_STATE_FLYTOAIRFIELDHOMEWP = 2,
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DLL_STATE_TERMINATE = 3,
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DLL_STATE_END = 4
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} _dll_state{DLL_STATE_NONE};
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/**
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* Set the DLL item
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*/
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void set_dll_item();
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/**
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* Move to next DLL item
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*/
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void advance_dll();
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};
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