gpsfailure.h
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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 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();
};