ardupilot/ArduCopter/avoidance_adsb.h

44 lines
1.6 KiB
C++

#pragma once
#include <AP_Avoidance/AP_Avoidance.h>
// Provide Copter-specific implementation of avoidance. While most of
// the logic for doing the actual avoidance is present in
// AP_Avoidance, this class allows Copter to override base
// functionality - for example, not doing anything while landed.
class AP_Avoidance_Copter : public AP_Avoidance {
public:
using AP_Avoidance::AP_Avoidance;
/* Do not allow copies */
AP_Avoidance_Copter(const AP_Avoidance_Copter &other) = delete;
AP_Avoidance_Copter &operator=(const AP_Avoidance_Copter&) = delete;
private:
// helper function to set modes and always succeed
void set_mode_else_try_RTL_else_LAND(control_mode_t mode);
protected:
// override avoidance handler
MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override;
// override recovery handler
void handle_recovery(uint8_t recovery_action) override;
// check flight mode is avoid_adsb
bool check_flightmode(bool allow_mode_change);
// vertical avoidance handler
bool handle_avoidance_vertical(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
// horizontal avoidance handler
bool handle_avoidance_horizontal(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
// perpendicular (3 dimensional) avoidance handler
bool handle_avoidance_perpendicular(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
// control mode before avoidance began
control_mode_t prev_control_mode = RTL;
};