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/**
* @file navigator_mode.h
*
* Base class for different modes in navigator
*
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef NAVIGATOR_MODE_H
#define NAVIGATOR_MODE_H
#include <drivers/drv_hrt.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <dataman/dataman.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_command.h>
class Navigator;
class NavigatorMode : public control::SuperBlock
{
public:
/**
* Constructor
*/
NavigatorMode(Navigator *navigator, const char *name);
/**
* Destructor
*/
virtual ~NavigatorMode();
void run(bool active, bool parameters_updated);
/**
* This function is called while the mode is inactive
*/
virtual void on_inactive();
/**
* This function is called one time when mode become active, poos_sp_triplet must be initialized here
*/
virtual void on_activation();
/**
* This function is called while the mode is active
*/
virtual void on_active();
/*
* This function defines how vehicle reacts on commands in
* current navigator mode
*/
virtual void execute_vehicle_command();
/*
* Check if vehicle command subscription has been updated
* if it has it updates _vcommand structure and returns true
*/
bool update_vehicle_command();
void point_camera_to_target(position_setpoint_s *sp);
void updateParameters();
void updateParamValues();
void updateParamHandles();
struct {
float takeoff_alt;
float takeoff_acceptance_radius;
float acceptance_radius;
float loiter_step;
float velocity_lpf;
int afol_rep_target_alt;
int afol_use_cam_pitch;
float loi_step_len;
float loi_min_alt;
float rtl_ret_alt;
} _parameters;
struct {
param_t takeoff_alt;
param_t takeoff_acceptance_radius;
param_t acceptance_radius;
param_t velocity_lpf;
param_t afol_rep_target_alt;
param_t afol_use_cam_pitch;
param_t loi_step_len;
param_t loi_min_alt;
param_t rtl_ret_alt;
} _parameter_handles;
protected:
Navigator *_navigator;
struct position_setpoint_triplet_s *pos_sp_triplet;
struct target_global_position_s *target_pos;
struct vehicle_global_position_s *global_pos;
struct home_position_s *home_pos;
struct vehicle_command_s _vcommand;
int _mavlink_fd; /**< the file descriptor to send messages over mavlink */
bool check_current_pos_sp_reached();
private:
bool _first_run;
/*
* This class has ptr data members, so it should not be copied,
* consequently the copy constructors are private.
*/
NavigatorMode(const NavigatorMode&);
NavigatorMode operator=(const NavigatorMode&);
};
#endif