diff options
Diffstat (limited to 'src/modules/navigator/mission_block.h')
| -rw-r--r-- | src/modules/navigator/mission_block.h | 19 |
1 files changed, 10 insertions, 9 deletions
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h index 47e6fe81f..f99002752 100644 --- a/src/modules/navigator/mission_block.h +++ b/src/modules/navigator/mission_block.h @@ -47,17 +47,17 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/position_setpoint_triplet.h> +#include "navigator_mode.h" + class Navigator; -class MissionBlock +class MissionBlock : public NavigatorMode { public: /** * Constructor - * - * @param pointer to parent class */ - MissionBlock(Navigator *navigator); + MissionBlock(Navigator *navigator, const char *name); /** * Destructor @@ -82,14 +82,18 @@ public: */ void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp); + /** + * Set previous position setpoint to current setpoint + */ + void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet); + /** * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position * - * @param true if the current position setpoint should be re-used * @param the position setpoint triplet to set * @return true if setpoint has changed */ - bool set_loiter_item(const bool reuse_current_pos_sp, position_setpoint_triplet_s *pos_sp_triplet); + bool set_loiter_item(position_setpoint_triplet_s *pos_sp_triplet); bool _waypoint_position_reached; bool _waypoint_yaw_reached; @@ -97,9 +101,6 @@ public: mission_item_s _mission_item; bool _mission_item_valid; - -private: - Navigator *_navigator_priv; }; #endif |