diff options
Diffstat (limited to 'src/modules/navigator/navigator_mode.cpp')
-rw-r--r-- | src/modules/navigator/navigator_mode.cpp | 70 |
1 files changed, 70 insertions, 0 deletions
diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp new file mode 100644 index 000000000..c96829190 --- /dev/null +++ b/src/modules/navigator/navigator_mode.cpp @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (c) 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 navigator_mode.cpp + * + * Helper class for different modes in navigator + * + * @author Julian Oes <julian@oes.ch> + */ + +#include "navigator_mode.h" + +NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) : + SuperBlock(NULL, name), + _navigator(navigator), + _first_run(true) +{ + /* load initial params */ + updateParams(); + /* set initial mission items */ + reset(); +} + +NavigatorMode::~NavigatorMode() +{ +} + +void +NavigatorMode::reset() +{ + _first_run = true; +} + +bool +NavigatorMode::update(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + pos_sp_triplet->current.valid = false; + _first_run = false; + return false; +} |