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/**
* @file rcloss.h
* Helper class for RC Loss Mode acording to the OBC rules
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef NAVIGATOR_RCLOSS_H
#define NAVIGATOR_RCLOSS_H
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/Subscription.hpp>
#include "navigator_mode.h"
#include "mission_block.h"
class Navigator;
class RCLoss : public MissionBlock
{
public:
RCLoss(Navigator *navigator, const char *name);
~RCLoss();
virtual void on_inactive();
virtual void on_activation();
virtual void on_active();
private:
/* Params */
control::BlockParamFloat _param_loitertime;
enum RCLState {
RCL_STATE_NONE = 0,
RCL_STATE_LOITER = 1,
RCL_STATE_TERMINATE = 2,
RCL_STATE_END = 3
} _rcl_state;
/**
* Set the RCL item
*/
void set_rcl_item();
/**
* Move to next RCL item
*/
void advance_rcl();
};
#endif