diff options
Diffstat (limited to 'src/modules/navigator/loiter.cpp')
| -rw-r--r-- | src/modules/navigator/loiter.cpp | 29 |
1 files changed, 22 insertions, 7 deletions
diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 542483fb1..f827e70c9 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -36,6 +36,7 @@ * Helper class to loiter * * @author Julian Oes <julian@oes.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <string.h> @@ -51,28 +52,42 @@ #include <uORB/topics/position_setpoint_triplet.h> #include "loiter.h" +#include "navigator.h" Loiter::Loiter(Navigator *navigator, const char *name) : MissionBlock(navigator, name) { /* load initial params */ updateParams(); - /* initial reset */ - on_inactive(); } Loiter::~Loiter() { } -bool -Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet) +void +Loiter::on_inactive() { - /* set loiter item, don't reuse an existing position setpoint */ - return set_loiter_item(pos_sp_triplet); } void -Loiter::on_inactive() +Loiter::on_activation() +{ + /* set current mission item to loiter */ + set_loiter_item(&_mission_item); + + /* convert mission item to current setpoint */ + struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); + pos_sp_triplet->previous.valid = false; + mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); + pos_sp_triplet->next.valid = false; + + _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER); + + _navigator->set_position_setpoint_triplet_updated(); +} + +void +Loiter::on_active() { } |