mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-05 16:30:34 +08:00
Daniel Agar
100 lines
2.9 KiB
C++
100 lines
2.9 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 navigator_mode.cpp
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*
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* Base class for different modes in navigator
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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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#include "navigator_mode.h"
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#include "navigator.h"
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NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
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SuperBlock(navigator, name),
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_navigator(navigator),
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_first_run(true)
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{
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/* load initial params */
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updateParams();
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/* set initial mission items */
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on_inactive();
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}
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NavigatorMode::~NavigatorMode()
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{
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}
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void
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NavigatorMode::run(bool active)
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{
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if (active) {
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if (_first_run) {
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/* first run */
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_first_run = false;
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/* Reset stay in failsafe flag */
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_navigator->get_mission_result()->stay_in_failsafe = false;
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_navigator->set_mission_result_updated();
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on_activation();
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} else {
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/* periodic updates when active */
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on_active();
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}
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} else {
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/* periodic updates when inactive */
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_first_run = true;
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on_inactive();
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}
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}
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void
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NavigatorMode::on_inactive()
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{
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}
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void
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NavigatorMode::on_activation()
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{
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/* invalidate position setpoint by default */
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_navigator->get_position_setpoint_triplet()->current.valid = false;
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}
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void
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NavigatorMode::on_active()
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{
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}
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