diff options
Diffstat (limited to 'src/modules/navigator/mission.h')
| -rw-r--r-- | src/modules/navigator/mission.h | 16 |
1 files changed, 15 insertions, 1 deletions
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index a8a644b0f..e9f78e8fd 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -83,6 +83,13 @@ public: MISSION_ALTMODE_FOH = 1 }; + enum mission_yaw_mode { + MISSION_YAWMODE_NONE = 0, + MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1, + MISSION_YAWMODE_FRONT_TO_HOME = 2, + MISSION_YAWMODE_BACK_TO_HOME = 3 + }; + private: /** * Update onboard mission topic @@ -111,6 +118,11 @@ private: void set_mission_items(); /** + * Updates the heading of the vehicle. Rotary wings only. + */ + void heading_sp_update(); + + /** * Updates the altitude sp to follow a foh */ void altitude_sp_foh_update(); @@ -155,6 +167,7 @@ private: control::BlockParamFloat _param_takeoff_alt; control::BlockParamFloat _param_dist_1wp; control::BlockParamInt _param_altmode; + control::BlockParamInt _param_yawmode; struct mission_s _onboard_mission; struct mission_s _offboard_mission; @@ -177,7 +190,8 @@ private: float _min_current_sp_distance_xy; /**< minimum distance which was achieved to the current waypoint */ float _mission_item_previous_alt; /**< holds the altitude of the previous mission item, - can be replaced by a full copy of the previous mission item if needed*/ + can be replaced by a full copy of the previous mission item if needed */ + float _on_arrival_yaw; /**< holds the yaw value that should be applied when the current waypoint is reached */ float _distance_current_previous; /**< distance from previous to current sp in pos_sp_triplet, only use if current and previous are valid */ }; |