gpsfailure.h

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/**
 * @file gpsfailure.h
 * Helper class for Data Link Loss Mode according to the OBC rules
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#pragma once

#include <px4_platform_common/module_params.h>

#include "mission_block.h"

#include <uORB/Publication.hpp>
#include <uORB/topics/vehicle_attitude_setpoint.h>

class Navigator;

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

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

private:
    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::NAV_GPSF_LT>) _param_nav_gpsf_lt,
        (ParamFloat<px4::params::NAV_GPSF_R>) _param_nav_gpsf_r,
        (ParamFloat<px4::params::NAV_GPSF_P>) _param_nav_gpsf_p,
        (ParamFloat<px4::params::NAV_GPSF_TR>) _param_nav_gpsf_tr
    )

    enum GPSFState {
        GPSF_STATE_NONE = 0,
        GPSF_STATE_LOITER = 1,
        GPSF_STATE_TERMINATE = 2,
        GPSF_STATE_END = 3,
    } _gpsf_state{GPSF_STATE_NONE};

    hrt_abstime _timestamp_activation{0}; //*< timestamp when this mode was activated */

    uORB::Publication<vehicle_attitude_setpoint_s>  _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
    uORB::Publication<vehicle_attitude_setpoint_s>  _fw_virtual_att_sp_pub{ORB_ID(fw_virtual_attitude_setpoint)};
    /**
     * Set the GPSF item
     */
    void        set_gpsf_item();

    /**
     * Move to next GPSF item
     */
    void        advance_gpsf();

};