diff options
Diffstat (limited to 'src/modules/navigator/mission.h')
| -rw-r--r-- | src/modules/navigator/mission.h | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index a9ef71606..4d0083d85 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -32,6 +32,7 @@ ****************************************************************************/ /** * @file mission.h + * * Helper class to access missions * * @author Julian Oes <julian@oes.ch> @@ -58,7 +59,7 @@ class Navigator; -class __EXPORT Mission : public control::SuperBlock +class Mission : public control::SuperBlock { public: /** @@ -99,17 +100,12 @@ protected: /** * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position + * @return true if setpoint has changed */ - void set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet); + bool set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet); class Navigator *_navigator; - bool _waypoint_position_reached; - bool _waypoint_yaw_reached; - hrt_abstime _time_first_inside_orbit; - - bool _first_run; - private: /** * Update onboard mission topic @@ -183,6 +179,12 @@ private: */ void publish_mission_result(); + bool _waypoint_position_reached; + bool _waypoint_yaw_reached; + hrt_abstime _time_first_inside_orbit; + + bool _first_run; + control::BlockParamFloat _param_onboard_enabled; control::BlockParamFloat _param_loiter_radius; @@ -203,8 +205,6 @@ private: MISSION_TYPE_OFFBOARD } _mission_type; - bool _loiter_set; - MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */ }; |