ardupilot/libraries/AP_Rally/AP_Rally.h

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/// @file AP_Rally.h
/// @brief Handles rally point storage, retrieval and lookup
/*
* The AP_Rally library:
*
* Initial implementation: Michael Day, September 2013
* Moved to AP_Rally lib: Andrew Chapman April 2014
*
* - responsible for managing a list of rally points
* - reads and writes the rally points to storage
* - provides access to the rally points, including logic to find the nearest one
*
*/
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
#ifndef HAL_RALLY_ENABLED
#define HAL_RALLY_ENABLED 1
#endif
#include <AP_Common/AP_Common.h>
#include <AP_Common/Location.h>
#include <AP_Param/AP_Param.h>
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struct PACKED RallyLocation {
int32_t lat; //Latitude * 10^7
int32_t lng; //Longitude * 10^7
int16_t alt; //transit altitude (and loiter altitude) in meters (absolute);
int16_t break_alt; //when autolanding, break out of loiter at this alt (meters)
uint16_t land_dir; //when the time comes to auto-land, try to land in this direction (centidegrees)
uint8_t flags; //bit 0 = seek favorable winds when choosing a landing poi
//bit 1 = do auto land after arriving
//all other bits are for future use.
};
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/// @class AP_Rally
/// @brief Object managing Rally Points
class AP_Rally {
public:
AP_Rally();
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/* Do not allow copies */
AP_Rally(const AP_Rally &other) = delete;
AP_Rally &operator=(const AP_Rally&) = delete;
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// data handling
bool get_rally_point_with_index(uint8_t i, RallyLocation &ret) const;
bool set_rally_point_with_index(uint8_t i, const RallyLocation &rallyLoc);
uint8_t get_rally_total() const {
return (uint8_t)_rally_point_total_count;
}
uint8_t get_rally_max(void) const {
const uint16_t ret = _storage.size() / uint16_t(sizeof(RallyLocation));
if (ret > 255) {
return 255;
}
return (uint8_t)ret;
}
// reduce point count:
void truncate(uint8_t num);
// append a rally point to the list
bool append(const RallyLocation &loc) WARN_IF_UNUSED;
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float get_rally_limit_km() const { return _rally_limit_km; }
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Location rally_location_to_location(const RallyLocation &ret) const;
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// logic handling
Location calc_best_rally_or_home_location(const Location &current_loc, float rtl_home_alt) const;
bool find_nearest_rally_point(const Location &myloc, RallyLocation &ret) const;
// last time rally points changed
uint32_t last_change_time_ms(void) const { return _last_change_time_ms; }
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// parameter block
static const struct AP_Param::GroupInfo var_info[];
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// get singleton instance
static AP_Rally *get_singleton() { return _singleton; }
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private:
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static AP_Rally *_singleton;
virtual bool is_valid(const Location &rally_point) const { return true; }
static StorageAccess _storage;
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// parameters
AP_Int8 _rally_point_total_count;
AP_Float _rally_limit_km;
AP_Int8 _rally_incl_home;
uint32_t _last_change_time_ms = 0xFFFFFFFF;
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};
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namespace AP {
AP_Rally *rally();
};