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/**
* @file datalinkloss.h
* Helper class for Data Link Loss Mode acording to the OBC rules
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef NAVIGATOR_DATALINKLOSS_H
#define NAVIGATOR_DATALINKLOSS_H
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/Subscription.hpp>
#include "navigator_mode.h"
#include "mission_block.h"
class Navigator;
class DataLinkLoss : public MissionBlock
{
public:
DataLinkLoss(Navigator *navigator, const char *name);
~DataLinkLoss();
virtual void on_inactive();
virtual void on_activation();
virtual void on_active();
private:
/* Params */
control::BlockParamFloat _param_commsholdwaittime;
control::BlockParamInt _param_commsholdlat; // * 1e7
control::BlockParamInt _param_commsholdlon; // * 1e7
control::BlockParamFloat _param_commsholdalt;
control::BlockParamInt _param_airfieldhomelat; // * 1e7
control::BlockParamInt _param_airfieldhomelon; // * 1e7
control::BlockParamFloat _param_airfieldhomealt;
control::BlockParamInt _param_numberdatalinklosses;
enum DLLState {
DLL_STATE_NONE = 0,
DLL_STATE_FLYTOCOMMSHOLDWP = 1,
DLL_STATE_FLYTOAIRFIELDHOMEWP = 2,
} _dll_state;
/**
* Set the DLL item
*/
void set_dll_item();
/**
* Move to next DLL item
*/
void advance_dll();
};
#endif