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/****************************************************************************
*
* (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.
*
****************************************************************************/
#ifndef MissionManager_H
#define MissionManager_H
#include "PlanManager.h"
Q_DECLARE_LOGGING_CATEGORY(MissionManagerLog)
class MissionManager : public PlanManager
{
Q_OBJECT
public:
MissionManager(Vehicle* vehicle);
~MissionManager();
/// 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; }
/// 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);
/// 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);
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;
};
#endif