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

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/**
 * @file navigator_mode.cpp
 *
 * Base class for different modes in navigator
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include "navigator_mode.h"
#include "navigator.h"

NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
	SuperBlock(navigator, name),
	_navigator(navigator),
	_first_run(true)
{
	/* load initial params */
	updateParams();
	/* set initial mission items */
	on_inactive();
}

NavigatorMode::~NavigatorMode()
{
}

void
NavigatorMode::run(bool active)
{
	if (active) {
		if (_first_run) {
			/* first run */
			_first_run = false;
			/* Reset stay in failsafe flag */
			_navigator->get_mission_result()->stay_in_failsafe = false;
			_navigator->set_mission_result_updated();
			on_activation();

		} else {
			/* periodic updates when active */
			on_active();
		}

	} else {
		/* periodic updates when inactive */
		_first_run = true;
		on_inactive();
	}
}

void
NavigatorMode::on_inactive()
{
}

void
NavigatorMode::on_activation()
{
	/* invalidate position setpoint by default */
	_navigator->get_position_setpoint_triplet()->current.valid = false;
}

void
NavigatorMode::on_active()
{
}