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/**
* @file loiter.cpp
*
* Helper class to loiter
*
* @author Julian Oes <julian@oes.ch>
*/
#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"
Loiter::Loiter(Navigator *navigator, const char *name) :
NavigatorMode(navigator, name),
MissionBlock(navigator)
{
/* load initial params */
updateParams();
/* initial reset */
reset();
}
Loiter::~Loiter()
{
}
bool
Loiter::update(struct position_setpoint_triplet_s *pos_sp_triplet)
{
/* set loiter item, don't reuse an existing position setpoint */
return set_loiter_item(false, pos_sp_triplet);;
}
void
Loiter::reset()
{
}