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/**
* @file mission_block.h
*
* Helper class to use mission items
*
* @author Julian Oes <julian@oes.ch>
*/
#ifndef NAVIGATOR_MISSION_BLOCK_H
#define NAVIGATOR_MISSION_BLOCK_H
#include <drivers/drv_hrt.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
class Navigator;
class MissionBlock
{
public:
/**
* Constructor
*
* @param pointer to parent class
*/
MissionBlock(Navigator *navigator);
/**
* Destructor
*/
virtual ~MissionBlock();
/**
* Check if mission item has been reached
* @return true if successfully reached
*/
bool is_mission_item_reached();
/**
* Reset all reached flags
*/
void reset_mission_item_reached();
/**
* Convert a mission item to a position setpoint
*
* @param the mission item to convert
* @param the position setpoint that needs to be set
*/
void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
/**
* Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
*
* @param true if the current position setpoint should be re-used
* @param the position setpoint triplet to set
* @return true if setpoint has changed
*/
bool set_loiter_item(const bool reuse_current_pos_sp, position_setpoint_triplet_s *pos_sp_triplet);
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
hrt_abstime _time_first_inside_orbit;
mission_item_s _mission_item;
bool _mission_item_valid;
private:
Navigator *_navigator_priv;
};
#endif