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/****************************************************************************
*
* Copyright (c) 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 navigator_mode.h
*
* Base class for different modes in navigator
*
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef NAVIGATOR_MODE_H
#define NAVIGATOR_MODE_H
#include <drivers/drv_hrt.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <dataman/dataman.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_status.h>
class Navigator;
class NavigatorMode : public control::SuperBlock
{
public:
/**
* Constructor
*/
NavigatorMode(Navigator *navigator, const char *name);
/**
* Destructor
*/
virtual ~NavigatorMode();
void run(bool active, bool parameters_updated);
/**
* This function is called while the mode is inactive
*/
virtual void on_inactive();
/**
* This function is called one time when mode become active, poos_sp_triplet must be initialized here
*/
virtual void on_activation();
/**
* This function is called while the mode is active
*/
virtual void on_active();
/*
* This function defines how vehicle reacts on commands in
* current navigator mode
*/
virtual void execute_vehicle_command();
/*
* Check if vehicle command subscription has been updated
* if it has it updates _vcommand structure and returns true
*/
bool update_vehicle_command();
void point_camera_to_target(position_setpoint_s *sp);
void updateParameters();
void updateParamValues();
void updateParamHandles();
void land(uint8_t reset_setpoint = 1);
void takeoff();
void disarm();
void resetModeArguments(main_state_t main_state);
struct {
float takeoff_alt;
float takeoff_acceptance_radius;
float acceptance_radius;
float loiter_step;
float velocity_lpf;
int afol_rep_target_alt;
int afol_use_cam_pitch;
float loi_step_len;
float loi_min_alt;
float rtl_ret_alt;
float airdog_dst_inv;
float airdog_init_pos_dst;
int airdog_init_pos_use;
float a_yaw_ignore_radius;
} _parameters;
struct {
param_t takeoff_alt;
param_t takeoff_acceptance_radius;
param_t acceptance_radius;
param_t velocity_lpf;
param_t afol_rep_target_alt;
param_t afol_use_cam_pitch;
param_t loi_step_len;
param_t loi_min_alt;
param_t rtl_ret_alt;
param_t airdog_dst_inv;
param_t airdog_init_pos_dst;
param_t airdog_init_pos_use;
param_t a_yaw_ignore_radius;
} _parameter_handles;
protected:
Navigator *_navigator;
struct position_setpoint_triplet_s *pos_sp_triplet;
struct target_global_position_s *target_pos;
struct vehicle_global_position_s *global_pos;
struct home_position_s *home_pos;
struct vehicle_command_s _vcommand;
int _mavlink_fd; /**< the file descriptor to send messages over mavlink */
bool check_current_pos_sp_reached();
void go_to_intial_position();
private:
bool _first_run;
/*
* This class has ptr data members, so it should not be copied,
* consequently the copy constructors are private.
*/
NavigatorMode(const NavigatorMode&);
NavigatorMode operator=(const NavigatorMode&);
};
#endif
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