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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-22 00:40:45 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-22 00:40:45 +0200 |
| commit | 752a0a562564ccc6f7d49ceebe810de7e6a6d358 (patch) | |
| tree | 4cbf58d1fbda81009b289b641882eff6895a5045 /src/modules/navigator/gpsfailure.h | |
| parent | 1a14ff250e5a2ead69576762fd5b7f176c4b6fac (diff) | |
| download | px4-firmware-752a0a562564ccc6f7d49ceebe810de7e6a6d358.tar.gz px4-firmware-752a0a562564ccc6f7d49ceebe810de7e6a6d358.tar.bz2 px4-firmware-752a0a562564ccc6f7d49ceebe810de7e6a6d358.zip | |
add obc gps failure mode
Diffstat (limited to 'src/modules/navigator/gpsfailure.h')
| -rw-r--r-- | src/modules/navigator/gpsfailure.h | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/src/modules/navigator/gpsfailure.h b/src/modules/navigator/gpsfailure.h index 88d386ec4..e9e72babf 100644 --- a/src/modules/navigator/gpsfailure.h +++ b/src/modules/navigator/gpsfailure.h @@ -43,7 +43,11 @@ #include <controllib/blocks.hpp> #include <controllib/block/BlockParam.hpp> -#include <uORB/Subscription.hpp> +#include <uORB/uORB.h> +#include <uORB/Publication.hpp> +#include <uORB/topics/vehicle_attitude_setpoint.h> + +#include <drivers/drv_hrt.h> #include "navigator_mode.h" #include "mission_block.h" @@ -65,13 +69,20 @@ public: private: /* Params */ + control::BlockParamFloat _param_loitertime; + control::BlockParamFloat _param_openlooploiter_roll; + control::BlockParamFloat _param_openlooploiter_pitch; + control::BlockParamFloat _param_openlooploiter_thrust; enum GPSFState { GPSF_STATE_NONE = 0, GPSF_STATE_LOITER = 1, GPSF_STATE_TERMINATE = 2, + GPSF_STATE_END = 3, } _gpsf_state; + hrt_abstime _timestamp_activation; //*< timestamp when this mode was activated */ + /** * Set the GPSF item */ |