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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 09:34:26 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 09:34:26 +0200 |
commit | efc992b4d9bbaf39addc90b6acb3104288cfba5b (patch) | |
tree | 83f633ec027022b3c575aa0770769bf55c6edda9 /src/modules/navigator/mission_block.h | |
parent | a43e963bdb73e6fa0480d442e72e1d764418cad4 (diff) | |
parent | 48f4a1e5cd6ef653b466eb68c1073fb47cbefbd7 (diff) | |
download | px4-firmware-efc992b4d9bbaf39addc90b6acb3104288cfba5b.tar.gz px4-firmware-efc992b4d9bbaf39addc90b6acb3104288cfba5b.tar.bz2 px4-firmware-efc992b4d9bbaf39addc90b6acb3104288cfba5b.zip |
Merged master into geo
Diffstat (limited to 'src/modules/navigator/mission_block.h')
-rw-r--r-- | src/modules/navigator/mission_block.h | 106 |
1 files changed, 106 insertions, 0 deletions
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h new file mode 100644 index 000000000..f99002752 --- /dev/null +++ b/src/modules/navigator/mission_block.h @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (c) 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 mission_block.h + * + * Helper class to use mission items + * + * @author Julian Oes <julian@oes.ch> + */ + +#ifndef NAVIGATOR_MISSION_BLOCK_H +#define NAVIGATOR_MISSION_BLOCK_H + +#include <drivers/drv_hrt.h> + +#include <uORB/topics/mission.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/position_setpoint_triplet.h> + +#include "navigator_mode.h" + +class Navigator; + +class MissionBlock : public NavigatorMode +{ +public: + /** + * Constructor + */ + MissionBlock(Navigator *navigator, const char *name); + + /** + * Destructor + */ + virtual ~MissionBlock(); + + /** + * Check if mission item has been reached + * @return true if successfully reached + */ + bool is_mission_item_reached(); + /** + * Reset all reached flags + */ + void reset_mission_item_reached(); + + /** + * Convert a mission item to a position setpoint + * + * @param the mission item to convert + * @param the position setpoint that needs to be set + */ + void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp); + + /** + * Set previous position setpoint to current setpoint + */ + void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet); + + /** + * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position + * + * @param the position setpoint triplet to set + * @return true if setpoint has changed + */ + bool set_loiter_item(position_setpoint_triplet_s *pos_sp_triplet); + + bool _waypoint_position_reached; + bool _waypoint_yaw_reached; + hrt_abstime _time_first_inside_orbit; + + mission_item_s _mission_item; + bool _mission_item_valid; +}; + +#endif |