MissionManager.h 1.8 KB
Newer Older
1 2 3 4 5 6 7 8 9
/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

Don Gagne's avatar
Don Gagne committed
10 11 12 13

#ifndef MissionManager_H
#define MissionManager_H

14
#include "PlanManager.h"
Don Gagne's avatar
Don Gagne committed
15 16 17

Q_DECLARE_LOGGING_CATEGORY(MissionManagerLog)

18
class MissionManager : public PlanManager
Don Gagne's avatar
Don Gagne committed
19 20 21 22 23 24
{
    Q_OBJECT
    
public:
    MissionManager(Vehicle* vehicle);
    ~MissionManager();
25 26 27 28 29 30 31
        
    /// Current mission item as reported by MISSION_CURRENT
    int currentIndex(void) const { return _currentMissionIndex; }

    /// Last current mission item reported while in Mission flight mode
    int lastCurrentIndex(void) const { return _lastCurrentIndex; }

Don Gagne's avatar
Don Gagne committed
32 33 34 35 36
    /// Writes the specified set mission items to the vehicle as an ArduPilot guided mode mission item.
    ///     @param gotoCoord Coordinate to move to
    ///     @param altChangeOnly true: only altitude change, false: lat/lon/alt change
    void writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoCoord, bool altChangeOnly);

37 38 39
    /// Generates a new mission which starts from the specified index. It will include all the CMD_DO items
    /// from mission start to resumeIndex in the generate mission.
    void generateResumeMission(int resumeIndex);
40 41 42 43 44 45 46 47 48 49 50 51 52

signals:
    void currentIndexChanged        (int currentIndex);
    void lastCurrentIndexChanged    (int lastCurrentIndex);

private slots:
    void _mavlinkMessageReceived(const mavlink_message_t& message);

private:
    void _handleMissionCurrent(const mavlink_message_t& message);
    void _handleHeartbeat(const mavlink_message_t& message);

    int _cachedLastCurrentIndex;
Don Gagne's avatar
Don Gagne committed
53 54
};

55
#endif