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/***************************************************************************
*
* Copyright (c) 2013-2014 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 navigator_rtl.h
* Helper class for RTL
*
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef NAVIGATOR_RTL_H
#define NAVIGATOR_RTL_H
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include "navigator_mode.h"
#include "mission_block.h"
class Navigator;
class RTL : public MissionBlock
{
public:
RTL(Navigator *navigator, const char *name);
~RTL();
virtual void on_inactive();
virtual void on_activation();
virtual void on_active();
private:
/**
* Set the RTL item
*/
void set_rtl_item();
/**
* Move to next RTL item
*/
void advance_rtl();
enum RTLState {
RTL_STATE_NONE = 0,
RTL_STATE_CLIMB,
RTL_STATE_RETURN,
RTL_STATE_DESCEND,
RTL_STATE_LOITER,
RTL_STATE_LAND,
RTL_STATE_LANDED,
} _rtl_state;
control::BlockParamFloat _param_return_alt;
control::BlockParamFloat _param_descend_alt;
control::BlockParamFloat _param_land_delay;
};
#endif
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