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| author | Julian Oes <julian@oes.ch> | 2014-06-06 17:17:41 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-06 17:17:41 +0200 |
| commit | d78c3a224267f4dbd1fac72e893c81b83b43df9b (patch) | |
| tree | 017bbbaf5f885fcf375f221127d45123cf0fba3b /src/modules/navigator/navigator.h | |
| parent | 9bfae10b73406ca4f6600a0441c6edf5077f1446 (diff) | |
| download | px4-firmware-d78c3a224267f4dbd1fac72e893c81b83b43df9b.tar.gz px4-firmware-d78c3a224267f4dbd1fac72e893c81b83b43df9b.tar.bz2 px4-firmware-d78c3a224267f4dbd1fac72e893c81b83b43df9b.zip | |
navigator: new class structure, loiter and mission working
Diffstat (limited to 'src/modules/navigator/navigator.h')
| -rw-r--r-- | src/modules/navigator/navigator.h | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 0c551bb41..476e9a36c 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -48,6 +48,7 @@ #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_global_position.h> +#include "navigator_mode.h" #include "mission.h" #include "loiter.h" #include "rtl.h" @@ -104,6 +105,8 @@ public: Geofence& get_geofence() { return _geofence; } bool get_is_in_loiter() { return _is_in_loiter; } + float get_loiter_radius() { return 50.0f; }; /* TODO: make param*/ + private: bool _task_should_exit; /**< if true, sensor task should exit */ @@ -139,6 +142,7 @@ private: bool _fence_valid; /**< flag if fence is valid */ bool _inside_fence; /**< vehicle is inside fence */ + NavigatorMode *_navigation_mode; /**< abstract pointer to current navigation mode class */ Mission _mission; /**< class that handles the missions */ Loiter _loiter; /**< class that handles loiter */ RTL _rtl; /**< class that handles RTL */ |