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Diffstat (limited to 'src/modules/navigator/loiter.cpp')
-rw-r--r-- | src/modules/navigator/loiter.cpp | 93 |
1 files changed, 93 insertions, 0 deletions
diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp new file mode 100644 index 000000000..f827e70c9 --- /dev/null +++ b/src/modules/navigator/loiter.cpp @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2014 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 loiter.cpp + * + * Helper class to loiter + * + * @author Julian Oes <julian@oes.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#include <string.h> +#include <stdlib.h> +#include <stdbool.h> +#include <math.h> +#include <fcntl.h> + +#include <mavlink/mavlink_log.h> +#include <systemlib/err.h> + +#include <uORB/uORB.h> +#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(); +} + +Loiter::~Loiter() +{ +} + +void +Loiter::on_inactive() +{ +} + +void +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() +{ +} |