rcloss.h

Go to the documentation of this file.

/***************************************************************************
 *
 *   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 rcloss.h
 * Helper class for RC Loss Mode acording to the OBC rules
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#pragma once

#include <px4_platform_common/module_params.h>

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

class Navigator;

class RCLoss : public MissionBlock, public ModuleParams
{
public:
    RCLoss(Navigator *navigator);
    ~RCLoss() = default;

    void on_inactive() override;
    void on_activation() override;
    void on_active() override;

private:
    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::NAV_RCL_LT>) _param_nav_gpsf_lt
    )

    enum RCLState {
        RCL_STATE_NONE = 0,
        RCL_STATE_LOITER = 1,
        RCL_STATE_TERMINATE = 2,
        RCL_STATE_END = 3
    } _rcl_state{RCL_STATE_NONE};

    /**
     * Set the RCL item
     */
    void        set_rcl_item();

    /**
     * Move to next RCL item
     */
    void        advance_rcl();

};