rtl.h

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#pragma once

#include <px4_module_params.h>

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

class Navigator;

class RTL : public MissionBlock, public ModuleParams
{
public:
    enum RTLType {
        RTL_HOME = 0,
        RTL_LAND,
        RTL_MISSION,
    };

    RTL(Navigator *navigator);

    ~RTL() = default;

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

    void set_return_alt_min(bool min);

    int rtl_type() const;

private:
    void        set_rtl_item();

    void        advance_rtl();

    enum RTLState {
        RTL_STATE_NONE = 0,
        RTL_STATE_CLIMB,
        RTL_STATE_RETURN,
        RTL_STATE_TRANSITION_TO_MC,
        RTL_STATE_DESCEND,
        RTL_STATE_LOITER,
        RTL_STATE_LAND,
        RTL_STATE_LANDED,
    } _rtl_state{RTL_STATE_NONE};

    bool _rtl_alt_min{false};

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::RTL_RETURN_ALT>) _param_rtl_return_alt,
        (ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_rtl_descend_alt,
        (ParamFloat<px4::params::RTL_LAND_DELAY>) _param_rtl_land_delay,
        (ParamFloat<px4::params::RTL_MIN_DIST>) _param_rtl_min_dist,
        (ParamInt<px4::params::RTL_TYPE>) _param_rtl_type
    )
};