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100 lines
3.3 KiB
C++
100 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2018 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 mission.h
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*
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* Mission mode class that handles everything related to executing a mission.
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* This class gets included as one of the 'modes' in the Navigator, along with other
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* modes like RTL, Loiter, etc.
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*
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* @author Julian Oes <julian@oes.ch>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Ban Siesta <bansiesta@gmail.com>
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#pragma once
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#include <cstdint>
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#include "mission_base.h"
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#include "navigation.h"
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class Navigator;
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class Mission : public MissionBase
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{
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public:
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Mission(Navigator *navigator);
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~Mission() = default;
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virtual void on_inactive() override;
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virtual void on_activation() override;
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bool set_current_mission_index(uint16_t index);
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uint16_t get_land_start_index() const { return _mission.land_start_index; }
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bool get_land_start_available() const { return hasMissionLandStart(); }
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bool isLanding();
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private:
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bool setNextMissionItem() override;
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/**
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* Returns true if we need to move to waypoint location after vtol takeoff
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*/
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bool do_need_move_to_takeoff();
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/**
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* Calculate takeoff height for mission item considering ground clearance
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*/
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float calculate_takeoff_altitude(struct mission_item_s *mission_item);
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/**
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* Save current mission state to dataman
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*/
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void save_mission_state();
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void setActiveMissionItems() override;
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void handleTakeoff(WorkItemType &new_work_item_type, mission_item_s next_mission_items[], size_t &num_found_items);
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void handleVtolTransition(WorkItemType &new_work_item_type, mission_item_s next_mission_items[],
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size_t &num_found_items);
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bool _need_mission_save{false};
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};
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