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/***************************************************************************
*
* Copyright (c) 2013-2014 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 datalinkloss.h
* Helper class for Data Link Loss Mode acording to the OBC rules
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef NAVIGATOR_DATALINKLOSS_H
#define NAVIGATOR_DATALINKLOSS_H
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/Subscription.hpp>
#include "navigator_mode.h"
#include "mission_block.h"
class Navigator;
class DataLinkLoss : public MissionBlock
{
public:
DataLinkLoss(Navigator *navigator, const char *name);
~DataLinkLoss();
virtual void on_inactive();
virtual void on_activation();
virtual void on_active();
private:
/* Params */
control::BlockParamFloat _param_commsholdwaittime;
control::BlockParamInt _param_commsholdlat; // * 1e7
control::BlockParamInt _param_commsholdlon; // * 1e7
control::BlockParamFloat _param_commsholdalt;
control::BlockParamInt _param_airfieldhomelat; // * 1e7
control::BlockParamInt _param_airfieldhomelon; // * 1e7
control::BlockParamFloat _param_airfieldhomealt;
control::BlockParamFloat _param_airfieldhomewaittime;
control::BlockParamInt _param_numberdatalinklosses;
control::BlockParamInt _param_skipcommshold;
enum DLLState {
DLL_STATE_NONE = 0,
DLL_STATE_FLYTOCOMMSHOLDWP = 1,
DLL_STATE_FLYTOAIRFIELDHOMEWP = 2,
DLL_STATE_TERMINATE = 3,
DLL_STATE_END = 4
} _dll_state;
/**
* Set the DLL item
*/
void set_dll_item();
/**
* Move to next DLL item
*/
void advance_dll();
};
#endif
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