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/**
* @file navigator_rtl.h
* Helper class for RTL
*
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef NAVIGATOR_RTL_H
#define NAVIGATOR_RTL_H
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include "navigator_mode.h"
#include "mission_block.h"
class Navigator;
class RTL : public NavigatorMode, MissionBlock
{
public:
/**
* Constructor
*/
RTL(Navigator *navigator, const char *name);
/**
* Destructor
*/
~RTL();
/**
* This function is called while the mode is inactive
*/
void on_inactive();
/**
* This function is called while the mode is active
*
* @param position setpoint triplet that needs to be set
* @return true if updated
*/
bool on_active(position_setpoint_triplet_s *pos_sp_triplet);
private:
/**
* Set the RTL item
*/
void set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet);
/**
* Move to next RTL item
*/
void advance_rtl();
enum RTLState {
RTL_STATE_NONE = 0,
RTL_STATE_CLIMB,
RTL_STATE_RETURN,
RTL_STATE_DESCEND,
RTL_STATE_LAND,
RTL_STATE_FINISHED,
} _rtl_state;
control::BlockParamFloat _param_return_alt;
control::BlockParamFloat _param_descend_alt;
control::BlockParamFloat _param_land_delay;
control::BlockParamFloat _param_acceptance_radius;
};
#endif
