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/**
* @file mission.h
*
* Navigator mode to access missions
*
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Ban Siesta <bansiesta@gmail.com>
*/
#ifndef NAVIGATOR_MISSION_H
#define NAVIGATOR_MISSION_H
#include <drivers/drv_hrt.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <dataman/dataman.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include "navigator_mode.h"
#include "mission_block.h"
#include "mission_feasibility_checker.h"
class Navigator;
class Mission : public MissionBlock
{
public:
Mission(Navigator *navigator, const char *name);
virtual ~Mission();
virtual void on_inactive();
virtual void on_activation();
virtual void on_active();
enum mission_altitude_mode {
MISSION_ALTMODE_ZOH = 0,
MISSION_ALTMODE_FOH = 1
};
enum mission_yaw_mode {
MISSION_YAWMODE_NONE = 0,
MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1,
MISSION_YAWMODE_FRONT_TO_HOME = 2,
MISSION_YAWMODE_BACK_TO_HOME = 3
};
private:
/**
* Update onboard mission topic
*/
void update_onboard_mission();
/**
* Update offboard mission topic
*/
void update_offboard_mission();
/**
* Move on to next mission item or switch to loiter
*/
void advance_mission();
/**
* Check distance to first waypoint (with lat/lon)
* @return true only if it's not too far from home (< MIS_DIST_1WP)
*/
bool check_dist_1wp();
/**
* Set new mission items
*/
void set_mission_items();
/**
* Updates the heading of the vehicle. Rotary wings only.
*/
void heading_sp_update();
/**
* Updates the altitude sp to follow a foh
*/
void altitude_sp_foh_update();
/**
* Resets the altitude sp foh logic
*/
void altitude_sp_foh_reset();
/**
* Read current or next mission item from the dataman and watch out for DO_JUMPS
* @return true if successful
*/
bool read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item);
/**
* Save current offboard mission state to dataman
*/
void save_offboard_mission_state();
/**
* Inform about a changed mission item after a DO_JUMP
*/
void report_do_jump_mission_changed(int index, int do_jumps_remaining);
/**
* Set a mission item as reached
*/
void set_mission_item_reached();
/**
* Set the current offboard mission item
*/
void set_current_offboard_mission_item();
/**
* Set that the mission is finished if one exists or that none exists
*/
void set_mission_finished();
control::BlockParamInt _param_onboard_enabled;
control::BlockParamFloat _param_takeoff_alt;
control::BlockParamFloat _param_dist_1wp;
control::BlockParamInt _param_altmode;
control::BlockParamInt _param_yawmode;
struct mission_s _onboard_mission;
struct mission_s _offboard_mission;
int _current_onboard_mission_index;
int _current_offboard_mission_index;
bool _need_takeoff; /**< if true, then takeoff must be performed before going to the first waypoint (if needed) */
bool _takeoff; /**< takeoff state flag */
enum {
MISSION_TYPE_NONE,
MISSION_TYPE_ONBOARD,
MISSION_TYPE_OFFBOARD
} _mission_type;
bool _inited;
bool _dist_1wp_ok;
MissionFeasibilityChecker _missionFeasiblityChecker; /**< class that checks if a mission is feasible */
float _min_current_sp_distance_xy; /**< minimum distance which was achieved to the current waypoint */
float _mission_item_previous_alt; /**< holds the altitude of the previous mission item,
can be replaced by a full copy of the previous mission item if needed */
float _on_arrival_yaw; /**< holds the yaw value that should be applied when the current waypoint is reached */
float _distance_current_previous; /**< distance from previous to current sp in pos_sp_triplet,
only use if current and previous are valid */
};
#endif
