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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-20 07:45:01 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-20 07:45:01 +0200 |
commit | 760a7ff548bcef6910f84beaa981600f3609358b (patch) | |
tree | b5326d0c8566c545846fbd57f6ac1673822fc126 /src/modules/navigator/gpsfailure.h | |
parent | 64ca94412e710164fb2ae69f6dfc3edbeff9c12b (diff) | |
download | px4-firmware-760a7ff548bcef6910f84beaa981600f3609358b.tar.gz px4-firmware-760a7ff548bcef6910f84beaa981600f3609358b.tar.bz2 px4-firmware-760a7ff548bcef6910f84beaa981600f3609358b.zip |
gpsfailure: add skeleton class, activate in commander
Diffstat (limited to 'src/modules/navigator/gpsfailure.h')
-rw-r--r-- | src/modules/navigator/gpsfailure.h | 86 |
1 files changed, 86 insertions, 0 deletions
diff --git a/src/modules/navigator/gpsfailure.h b/src/modules/navigator/gpsfailure.h new file mode 100644 index 000000000..88d386ec4 --- /dev/null +++ b/src/modules/navigator/gpsfailure.h @@ -0,0 +1,86 @@ +/*************************************************************************** + * + * Copyright (c) 2013-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file gpsfailure.h + * Helper class for Data Link Loss Mode according to the OBC rules + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#ifndef NAVIGATOR_GPSFAILURE_H +#define NAVIGATOR_GPSFAILURE_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 GpsFailure : public MissionBlock +{ +public: + GpsFailure(Navigator *navigator, const char *name); + + ~GpsFailure(); + + virtual void on_inactive(); + + virtual void on_activation(); + + virtual void on_active(); + +private: + /* Params */ + + enum GPSFState { + GPSF_STATE_NONE = 0, + GPSF_STATE_LOITER = 1, + GPSF_STATE_TERMINATE = 2, + } _gpsf_state; + + /** + * Set the GPSF item + */ + void set_gpsf_item(); + + /** + * Move to next GPSF item + */ + void advance_gpsf(); + +}; +#endif |