gpsfailure.h

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#pragma once

#include <px4_module_params.h>

#include "mission_block.h"

class Navigator;

class GpsFailure : public MissionBlock, public ModuleParams
{
public:
    GpsFailure(Navigator *navigator);
    ~GpsFailure() = default;

    void on_inactive() override;
    void on_activation() override;
    void on_active() override;

private:
    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::NAV_GPSF_LT>) _param_nav_gpsf_lt,
        (ParamFloat<px4::params::NAV_GPSF_R>) _param_nav_gpsf_r,
        (ParamFloat<px4::params::NAV_GPSF_P>) _param_nav_gpsf_p,
        (ParamFloat<px4::params::NAV_GPSF_TR>) _param_nav_gpsf_tr
    )

    enum GPSFState {
        GPSF_STATE_NONE = 0,
        GPSF_STATE_LOITER = 1,
        GPSF_STATE_TERMINATE = 2,
        GPSF_STATE_END = 3,
    } _gpsf_state{GPSF_STATE_NONE};

    hrt_abstime _timestamp_activation{0}; //*< timestamp when this mode was activated */

    orb_advert_t    _att_sp_pub{nullptr};

    void        set_gpsf_item();

    void        advance_gpsf();

};