ardupilot/libraries/AP_Rally/AP_Rally.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @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_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_AHRS/AP_AHRS.h>
#include <StorageManager/StorageManager.h>
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#define AP_RALLY_WP_SIZE 15 // eeprom size of rally points
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(AP_AHRS &ahrs);
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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 _rally_point_total_count; }
uint8_t get_rally_max(void) const { return _storage.size() / AP_RALLY_WP_SIZE; }
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float get_rally_limit_km() const { return _rally_limit_km; }
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[];
private:
static StorageAccess _storage;
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// internal variables
const AP_AHRS& _ahrs; // used only for home position
// parameters
AP_Int8 _rally_point_total_count;
AP_Float _rally_limit_km;
AP_Int8 _rally_incl_home;
uint32_t _last_change_time_ms;
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};