diff options
Diffstat (limited to 'src/modules/navigator/navigator.h')
-rw-r--r-- | src/modules/navigator/navigator.h | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index ec6e538e3..709e3e724 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -63,12 +63,13 @@ #include "datalinkloss.h" #include "enginefailure.h" #include "gpsfailure.h" +#include "rcloss.h" #include "geofence.h" /** * Number of navigation modes that need on_active/on_inactive calls */ -#define NAVIGATOR_MODE_ARRAY_SIZE 7 +#define NAVIGATOR_MODE_ARRAY_SIZE 8 class Navigator : public control::SuperBlock { @@ -109,7 +110,7 @@ public: * Publish the mission result so commander and mavlink know what is going on */ void publish_mission_result(); - + /** * Publish the attitude sp, only to be used in very special modes when position control is deactivated * Example: mode that is triggered on gps failure @@ -193,6 +194,8 @@ private: Mission _mission; /**< class that handles the missions */ Loiter _loiter; /**< class that handles loiter */ RTL _rtl; /**< class that handles RTL */ + RCLoss _rcLoss; /**< class that handles RTL according to + OBC rules (rc loss mode) */ Offboard _offboard; /**< class that handles offboard */ DataLinkLoss _dataLinkLoss; /**< class that handles the OBC datalink loss mode */ EngineFailure _engineFailure; /**< class that handles the engine failure mode @@ -207,6 +210,7 @@ private: control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */ control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */ control::BlockParamInt _param_datalinkloss_obc; /**< if true: obc mode on data link loss enabled */ + control::BlockParamInt _param_rcloss_obc; /**< if true: obc mode on rc loss enabled */ /** * Retrieve global position */ |