rcloss.h

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#pragma once

#include <px4_module_params.h>

#include "navigator_mode.h"
#include "mission_block.h"

class Navigator;

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

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

private:
    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::NAV_RCL_LT>) _param_nav_gpsf_lt
    )

    enum RCLState {
        RCL_STATE_NONE = 0,
        RCL_STATE_LOITER = 1,
        RCL_STATE_TERMINATE = 2,
        RCL_STATE_END = 3
    } _rcl_state{RCL_STATE_NONE};

    void        set_rcl_item();

    void        advance_rcl();

};