datalinkloss.h

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/**
 * @file datalinkloss.h
 * Helper class for Data Link 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 DataLinkLoss : public MissionBlock, public ModuleParams
{
public:
    DataLinkLoss(Navigator *navigator);

    ~DataLinkLoss() = default;

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

private:
    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::NAV_DLL_CH_T>) _param_nav_dll_ch_t,
        (ParamInt<px4::params::NAV_DLL_CH_LAT>) _param_nav_dll_ch_lat, // * 1e7
        (ParamInt<px4::params::NAV_DLL_CH_LON>) _param_nav_dll_ch_lon, // * 1e7
        (ParamFloat<px4::params::NAV_DLL_CH_ALT>) _param_nav_dll_ch_alt,
        (ParamInt<px4::params::NAV_AH_LAT>) _param_nav_ah_lat, // * 1e7
        (ParamInt<px4::params::NAV_AH_LON>) _param_nav_ah_lon, // * 1e7
        (ParamFloat<px4::params::NAV_AH_ALT>) _param_nav_ah_alt,
        (ParamFloat<px4::params::NAV_DLL_AH_T>) _param_nav_dll_ah_t,
        (ParamInt<px4::params::NAV_DLL_N>) _param_nav_dll_n,
        (ParamInt<px4::params::NAV_DLL_CHSK>) _param_nav_dll_chsk
    )

    enum DLLState {
        DLL_STATE_NONE = 0,
        DLL_STATE_FLYTOCOMMSHOLDWP = 1,
        DLL_STATE_FLYTOAIRFIELDHOMEWP = 2,
        DLL_STATE_TERMINATE = 3,
        DLL_STATE_END = 4
    } _dll_state{DLL_STATE_NONE};

    /**
     * Set the DLL item
     */
    void        set_dll_item();

    /**
     * Move to next DLL item
     */
    void        advance_dll();

};