52 lines
1.7 KiB
C++
52 lines
1.7 KiB
C++
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/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#ifndef MissionManager_H
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#define MissionManager_H
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#include "PlanManager.h"
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Q_DECLARE_LOGGING_CATEGORY(MissionManagerLog)
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class MissionManager : public PlanManager
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{
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Q_OBJECT
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public:
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MissionManager(Vehicle* vehicle);
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~MissionManager();
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/// Current mission item as reported by MISSION_CURRENT
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int currentIndex(void) const { return _currentMissionIndex; }
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/// Last current mission item reported while in Mission flight mode
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int lastCurrentIndex(void) const { return _lastCurrentIndex; }
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/// Writes the specified set mission items to the vehicle as an ArduPilot guided mode mission item.
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/// @param gotoCoord Coordinate to move to
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/// @param altChangeOnly true: only altitude change, false: lat/lon/alt change
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void writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoCoord, bool altChangeOnly);
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/// Generates a new mission which starts from the specified index. It will include all the CMD_DO items
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/// from mission start to resumeIndex in the generate mission.
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void generateResumeMission(int resumeIndex);
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private slots:
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void _mavlinkMessageReceived(const mavlink_message_t& message);
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private:
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void _handleMissionCurrent(const mavlink_message_t& message);
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void _handleHeartbeat(const mavlink_message_t& message);
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int _cachedLastCurrentIndex;
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};
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#endif
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