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/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mission_block.h
*
* Helper class to use mission items
*
* @author Julian Oes <julian@oes.ch>
*/
#ifndef NAVIGATOR_MISSION_BLOCK_H
#define NAVIGATOR_MISSION_BLOCK_H
#include <drivers/drv_hrt.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include "navigator_mode.h"
class Navigator;
class MissionBlock : public NavigatorMode
{
public:
/**
* Constructor
*/
MissionBlock(Navigator *navigator, const char *name);
/**
* Destructor
*/
virtual ~MissionBlock();
protected:
/**
* Check if mission item has been reached
* @return true if successfully reached
*/
bool is_mission_item_reached();
/**
* Reset all reached flags
*/
void reset_mission_item_reached();
/**
* Convert a mission item to a position setpoint
*
* @param the mission item to convert
* @param the position setpoint that needs to be set
*/
void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
/**
* Set previous position setpoint to current setpoint
*/
void set_previous_pos_setpoint();
/**
* Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
*/
void set_loiter_item(struct mission_item_s *item);
mission_item_s _mission_item;
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
hrt_abstime _time_first_inside_orbit;
};
#endif
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