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 *    used to endorse or promote products derived from this software
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/**
 * @file navigator_rtl.h
 * Helper class for RTL
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#ifndef NAVIGATOR_RTL_H
#define NAVIGATOR_RTL_H

#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>

#include <uORB/topics/mission.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_global_position.h>

#include "navigator_mode.h"
#include "mission_block.h"

class Navigator;

class RTL : public MissionBlock
{
public:
	RTL(Navigator *navigator, const char *name);

	~RTL();

	virtual void on_inactive();

	virtual void on_activation();

	virtual void on_active();

private:
	/**
	 * Set the RTL item
	 */
	void		set_rtl_item();

	/**
	 * Move to next RTL item
	 */
	void		advance_rtl();

	enum RTLState {
		RTL_STATE_NONE = 0,
		RTL_STATE_CLIMB,
		RTL_STATE_RETURN,
		RTL_STATE_DESCEND,
		RTL_STATE_LOITER,
		RTL_STATE_LAND,
		RTL_STATE_LANDED,
	} _rtl_state;

	control::BlockParamFloat _param_return_alt;
	control::BlockParamFloat _param_descend_alt;
	control::BlockParamFloat _param_land_delay;
};

#endif