diff options
Diffstat (limited to 'src/modules/navigator/rtl.cpp')
-rw-r--r-- | src/modules/navigator/rtl.cpp | 31 |
1 files changed, 23 insertions, 8 deletions
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index b8ea06275..9d7886aa6 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -51,26 +51,41 @@ #include "rtl.h" - -RTL::RTL() : - SuperBlock(NULL, "RTL"), +RTL::RTL(Navigator *navigator) : + Mission(navigator), _mavlink_fd(-1), _rtl_state(RTL_STATE_NONE), _home_position({}), + _loiter_radius(50), + _acceptance_radius(50), _param_return_alt(this, "RETURN_ALT"), _param_descend_alt(this, "DESCEND_ALT"), - _param_land_delay(this, "LAND_DELAY"), - _loiter_radius(50), - _acceptance_radius(50) + _param_land_delay(this, "LAND_DELAY") { /* load initial params */ updateParams(); + /* initial reset */ + reset(); } RTL::~RTL() { } +bool +RTL::update(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + bool updated = false; + + return updated; +} + +void +RTL::reset() +{ + +} + void RTL::set_home_position(const home_position_s *new_home_position) { @@ -206,7 +221,7 @@ RTL::get_current_rtl_item(const vehicle_global_position_s *global_position, miss } default: - return false; + return false; } return true; @@ -226,7 +241,7 @@ RTL::move_to_next() case RTL_STATE_CLIMB: _rtl_state = RTL_STATE_RETURN; break; - + case RTL_STATE_RETURN: _rtl_state = RTL_STATE_DESCEND; break; |