ArduCopter/avoidance_adsb.h

   1 #pragma once
   2
   3 #include <AP_Avoidance/AP_Avoidance.h>
   4
   5 // Provide Copter-specific implementation of avoidance.  While most of
   6 // the logic for doing the actual avoidance is present in
   7 // AP_Avoidance, this class allows Copter to override base
   8 // functionality - for example, not doing anything while landed.
   9 class AP_Avoidance_Copter : public AP_Avoidance {
  10 public:
  11
  12     using AP_Avoidance::AP_Avoidance;
  13
  14     /* Do not allow copies */
  15     CLASS_NO_COPY(AP_Avoidance_Copter);
  16
  17 private:
  18     // helper function to set modes and always succeed
  19     void set_mode_else_try_RTL_else_LAND(Mode::Number mode);
  20
  21     // get minimum limit altitude allowed on descend
  22     int32_t get_altitude_minimum() const;
  23
  24 protected:
  25     // override avoidance handler
  26     MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override;
  27
  28     // override recovery handler
  29     void handle_recovery(RecoveryAction recovery_action) override;
  30
  31     // check flight mode is avoid_adsb
  32     bool check_flightmode(bool allow_mode_change);
  33
  34     // vertical avoidance handler
  35     bool handle_avoidance_vertical(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
  36
  37     // horizontal avoidance handler
  38     bool handle_avoidance_horizontal(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
  39
  40     // perpendicular (3 dimensional) avoidance handler
  41     bool handle_avoidance_perpendicular(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
  42
  43     // control mode before avoidance began
  44     Mode::Number prev_control_mode = Mode::Number::RTL;
  45 };