mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.6 KiB
C++
46 lines
1.6 KiB
C++
#pragma once
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#include <AP_Avoidance/AP_Avoidance.h>
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// Provide Copter-specific implementation of avoidance. While most of
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// the logic for doing the actual avoidance is present in
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// AP_Avoidance, this class allows Copter to override base
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// functionality - for example, not doing anything while landed.
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class AP_Avoidance_Copter : public AP_Avoidance {
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public:
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using AP_Avoidance::AP_Avoidance;
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Avoidance_Copter);
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private:
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// helper function to set modes and always succeed
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void set_mode_else_try_RTL_else_LAND(Mode::Number mode);
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// get minimum limit altitude allowed on descend
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int32_t get_altitude_minimum() const;
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protected:
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// override avoidance handler
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MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override;
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// override recovery handler
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void handle_recovery(RecoveryAction recovery_action) override;
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// check flight mode is avoid_adsb
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bool check_flightmode(bool allow_mode_change);
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// vertical avoidance handler
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bool handle_avoidance_vertical(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
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// horizontal avoidance handler
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bool handle_avoidance_horizontal(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
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// perpendicular (3 dimensional) avoidance handler
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bool handle_avoidance_perpendicular(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
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// control mode before avoidance began
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Mode::Number prev_control_mode = Mode::Number::RTL;
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};
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