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/**
 * @file loiter.cpp
 *
 * Helper class to loiter
 *
 * @author Julian Oes <julian@oes.ch>
 */

#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <fcntl.h>

#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>

#include <uORB/uORB.h>
#include <uORB/topics/position_setpoint_triplet.h>

#include "loiter.h"

Loiter::Loiter(Navigator *navigator, const char *name) :
	NavigatorMode(navigator, name),
	MissionBlock(navigator)
{
	/* load initial params */
	updateParams();
	/* initial reset */
	on_inactive();
}

Loiter::~Loiter()
{
}

bool
Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
{
	/* set loiter item, don't reuse an existing position setpoint */
	return set_loiter_item(false, pos_sp_triplet);;
}

void
Loiter::on_inactive()
{
}