diff options
Diffstat (limited to 'src/modules/navigator/rtl.h')
| -rw-r--r-- | src/modules/navigator/rtl.h | 24 |
1 files changed, 16 insertions, 8 deletions
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index d84fd1a6f..9b32fbb0c 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -31,8 +31,9 @@ * ****************************************************************************/ /** - * @file navigator_mission.h - * Helper class to access missions + * @file navigator_rtl.h + * Helper class for RTL + * * @author Julian Oes <julian@oes.ch> * @author Anton Babushkin <anton.babushkin@me.com> */ @@ -48,11 +49,12 @@ #include <uORB/topics/home_position.h> #include <uORB/topics/vehicle_global_position.h> -#include "mission.h" +#include "navigator_mode.h" +#include "mission_block.h" class Navigator; -class RTL : public Mission +class RTL : public NavigatorMode, MissionBlock { public: /** @@ -63,11 +65,18 @@ public: /** * Destructor */ - virtual ~RTL(); + ~RTL(); + + /** + * This function is called while the mode is inactive + */ + void reset(); - virtual bool update(struct position_setpoint_triplet_s *pos_sp_triplet); + /** + * This function is called while the mode is active + */ + bool update(struct position_setpoint_triplet_s *pos_sp_triplet); - virtual void reset(); private: void set_home_position(const home_position_s *home_position); @@ -92,7 +101,6 @@ private: float _loiter_radius; float _acceptance_radius; - control::BlockParamFloat _param_loiter_rad; control::BlockParamFloat _param_return_alt; control::BlockParamFloat _param_descend_alt; control::BlockParamFloat _param_land_delay; |