path: root/src/modules/navigator/loiter.cpp

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/**
 * @file loiter.cpp
 *
 * Helper class to loiter
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <fcntl.h>

#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>

#include <uORB/uORB.h>
#include <uORB/topics/position_setpoint_triplet.h>

#include "loiter.h"
#include "navigator.h"

Loiter::Loiter(Navigator *navigator, const char *name) :
	MissionBlock(navigator, name)
{
	/* load initial params */
	updateParams();
}

Loiter::~Loiter()
{
}

void
Loiter::on_inactive()
{
}

void
Loiter::on_activation()
{
	/* set current mission item to loiter */
	set_loiter_item(&_mission_item);

	/* convert mission item to current setpoint */
	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
	pos_sp_triplet->previous.valid = false;
	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
	pos_sp_triplet->next.valid = false;

	_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);

	_navigator->set_position_setpoint_triplet_updated();
}

void
Loiter::on_active()
{
}