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author | Julian Oes <julian@oes.ch> | 2014-06-06 20:02:38 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-06-06 20:02:38 +0200 |
commit | 1bec9dfe2bab4200a2e2859d1efee0a1bb66e6d1 (patch) | |
tree | bb48b47017b4a8087004dba2bdc92dad07b2a908 /src/modules/navigator/rtl.h | |
parent | b97b74491bfa7bddf8b7a80525f031e4c83fe5d4 (diff) | |
download | px4-firmware-1bec9dfe2bab4200a2e2859d1efee0a1bb66e6d1.tar.gz px4-firmware-1bec9dfe2bab4200a2e2859d1efee0a1bb66e6d1.tar.bz2 px4-firmware-1bec9dfe2bab4200a2e2859d1efee0a1bb66e6d1.zip |
navigator: RTL working again
Diffstat (limited to 'src/modules/navigator/rtl.h')
-rw-r--r-- | src/modules/navigator/rtl.h | 25 |
1 files changed, 13 insertions, 12 deletions
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index 9b32fbb0c..9836f5064 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -74,19 +74,23 @@ public: /** * This function is called while the mode is active + * + * @param position setpoint triplet that needs to be set + * @return true if updated */ - bool update(struct position_setpoint_triplet_s *pos_sp_triplet); + bool update(position_setpoint_triplet_s *pos_sp_triplet); private: - void set_home_position(const home_position_s *home_position); - - bool get_current_rtl_item(const vehicle_global_position_s *global_position, mission_item_s *new_mission_item); - bool get_next_rtl_item(mission_item_s *mission_item); - - void move_to_next(); + /** + * Set the RTL item + */ + void set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet); - int _mavlink_fd; + /** + * Move to next RTL item + */ + void advance_rtl(); enum RTLState { RTL_STATE_NONE = 0, @@ -97,13 +101,10 @@ private: RTL_STATE_FINISHED, } _rtl_state; - home_position_s _home_position; - float _loiter_radius; - float _acceptance_radius; - control::BlockParamFloat _param_return_alt; control::BlockParamFloat _param_descend_alt; control::BlockParamFloat _param_land_delay; + control::BlockParamFloat _param_acceptance_radius; }; #endif |