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author | Julian Oes <julian@oes.ch> | 2014-06-06 17:17:41 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-06-06 17:17:41 +0200 |
commit | d78c3a224267f4dbd1fac72e893c81b83b43df9b (patch) | |
tree | 017bbbaf5f885fcf375f221127d45123cf0fba3b /src/modules/navigator/navigator_mode.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_mode.h')
-rw-r--r-- | src/modules/navigator/navigator_mode.h | 86 |
1 files changed, 86 insertions, 0 deletions
diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h new file mode 100644 index 000000000..0844bb94d --- /dev/null +++ b/src/modules/navigator/navigator_mode.h @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * 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 navigator_mode.h + * + * Helper class for different modes in navigator + * + * @author Julian Oes <julian@oes.ch> + */ + +#ifndef NAVIGATOR_MODE_H +#define NAVIGATOR_MODE_H + +#include <drivers/drv_hrt.h> + +#include <controllib/blocks.hpp> +#include <controllib/block/BlockParam.hpp> + +#include <dataman/dataman.h> + +#include <uORB/topics/position_setpoint_triplet.h> + +class Navigator; + +class NavigatorMode : public control::SuperBlock +{ +public: + /** + * Constructor + */ + NavigatorMode(Navigator *navigator, const char *name); + + /** + * Destructor + */ + virtual ~NavigatorMode(); + + /** + * This function is called while the mode is inactive + */ + virtual void reset(); + + /** + * This function is called while the mode is active + * + * @param position setpoint triplet to set + * @return true if position setpoint triplet has been changed + */ + virtual bool update(struct position_setpoint_triplet_s *pos_sp_triplet); + +protected: + Navigator *_navigator; + bool _first_run; +}; + +#endif |