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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 14:00:54 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 14:00:54 +0200 |
commit | 4b9f9281f5d2b425f0de83801eb38224395c0f12 (patch) | |
tree | b0a5332543de1e6f4d46901a83c85bfebf6b4795 /src/modules/navigator/loiter.cpp | |
parent | 5c6a5411288ea181503269a711de2e626ddb5185 (diff) | |
parent | 8f957aeb5f8f7527d1ef2a5583f4de7870c60513 (diff) | |
download | px4-firmware-4b9f9281f5d2b425f0de83801eb38224395c0f12.tar.gz px4-firmware-4b9f9281f5d2b425f0de83801eb38224395c0f12.tar.bz2 px4-firmware-4b9f9281f5d2b425f0de83801eb38224395c0f12.zip |
Merged master into vision_estimate
Diffstat (limited to 'src/modules/navigator/loiter.cpp')
-rw-r--r-- | src/modules/navigator/loiter.cpp | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp new file mode 100644 index 000000000..542483fb1 --- /dev/null +++ b/src/modules/navigator/loiter.cpp @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * 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 loiter.cpp + * + * Helper class to loiter + * + * @author Julian Oes <julian@oes.ch> + */ + +#include <string.h> +#include <stdlib.h> +#include <stdbool.h> +#include <math.h> +#include <fcntl.h> + +#include <mavlink/mavlink_log.h> +#include <systemlib/err.h> + +#include <uORB/uORB.h> +#include <uORB/topics/position_setpoint_triplet.h> + +#include "loiter.h" + +Loiter::Loiter(Navigator *navigator, const char *name) : + MissionBlock(navigator, name) +{ + /* load initial params */ + updateParams(); + /* initial reset */ + on_inactive(); +} + +Loiter::~Loiter() +{ +} + +bool +Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + /* set loiter item, don't reuse an existing position setpoint */ + return set_loiter_item(pos_sp_triplet); +} + +void +Loiter::on_inactive() +{ +} |