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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/rtl.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/rtl.h')
-rw-r--r-- | src/modules/navigator/rtl.h | 24 |
1 files changed, 16 insertions, 8 deletions
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index d84fd1a6f..9b32fbb0c 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -31,8 +31,9 @@ * ****************************************************************************/ /** - * @file navigator_mission.h - * Helper class to access missions + * @file navigator_rtl.h + * Helper class for RTL + * * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> */ @@ -48,11 +49,12 @@ #include <uORB/topics/home_position.h> #include <uORB/topics/vehicle_global_position.h> -#include "mission.h" +#include "navigator_mode.h" +#include "mission_block.h" class Navigator; -class RTL : public Mission +class RTL : public NavigatorMode, MissionBlock { public: /** @@ -63,11 +65,18 @@ public: /** * Destructor */ - virtual ~RTL(); + ~RTL(); + + /** + * This function is called while the mode is inactive + */ + void reset(); - virtual bool update(struct position_setpoint_triplet_s *pos_sp_triplet); + /** + * This function is called while the mode is active + */ + bool update(struct position_setpoint_triplet_s *pos_sp_triplet); - virtual void reset(); private: void set_home_position(const home_position_s *home_position); @@ -92,7 +101,6 @@ private: float _loiter_radius; float _acceptance_radius; - control::BlockParamFloat _param_loiter_rad; control::BlockParamFloat _param_return_alt; control::BlockParamFloat _param_descend_alt; control::BlockParamFloat _param_land_delay; |