navigator_mode.cpp
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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.cpp
*
* Base class for different modes in navigator
*
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "navigator_mode.h"
#include "navigator.h"
NavigatorMode::NavigatorMode(Navigator *navigator) :
_navigator(navigator)
{
/* set initial mission items */
on_inactivation();
on_inactive();
}
void
NavigatorMode::run(bool active)
{
if (active) {
if (!_active) {
/* first run, reset stay in failsafe flag */
_navigator->get_mission_result()->stay_in_failsafe = false;
_navigator->set_mission_result_updated();
on_activation();
} else {
/* periodic updates when active */
on_active();
}
} else {
/* periodic updates when inactive */
if (_active) {
on_inactivation();
} else {
on_inactive();
}
}
_active = active;
}
void
NavigatorMode::on_inactive()
{
}
void
NavigatorMode::on_inactivation()
{
}
void
NavigatorMode::on_activation()
{
/* invalidate position setpoint by default */
_navigator->get_position_setpoint_triplet()->current.valid = false;
}
void
NavigatorMode::on_active()
{
}