navigator: missions work again, loiter when finished or no mission available or sd card removed works as well

1 files changed, 12 insertions, 4 deletions

diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 65a0991b5..f75c8a882 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -58,7 +58,7 @@
 
 class Navigator;
 
-class Mission : public control::SuperBlock
+class __EXPORT Mission : public control::SuperBlock
 {
 public:
 	/**
@@ -97,6 +97,11 @@ protected:
 	 */
 	void mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp);
 
+	/**
+	 * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
+	 */
+	void set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet);
+
 	class Navigator *_navigator;
 
 	bool _waypoint_position_reached;
@@ -179,13 +184,14 @@ private:
 	void publish_mission_result();
 
 	control::BlockParamFloat _param_onboard_enabled;
-
-	int _onboard_mission_sub;
-	int _offboard_mission_sub;
+	control::BlockParamFloat _param_loiter_radius;
 
 	struct mission_s _onboard_mission;
 	struct mission_s _offboard_mission;
 
+	int _current_onboard_mission_index;
+	int _current_offboard_mission_index;
+
 	struct mission_item_s _mission_item;
 
 	orb_advert_t _mission_result_pub;
@@ -197,6 +203,8 @@ private:
 		MISSION_TYPE_OFFBOARD
 	} _mission_type;
 
+	bool _loiter_set;
+
 	MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
 
 };