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 *    used to endorse or promote products derived from this software
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/**
 * @file navigator_rtl.h
 * Helper class for RTL
 *
 * @author Julian Oes <julian@oes.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#pragma once

#include <px4_module_params.h>

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

class Navigator;

class RTL : public MissionBlock, public ModuleParams
{
public:
	RTL(Navigator *navigator);
	~RTL() = default;

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

	void set_return_alt_min(bool min);

	bool mission_landing_required();

private:
	/**
	 * Set the RTL item
	 */
	void		set_rtl_item();

	/**
	 * Move to next 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_return_alt,
		(ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_descend_alt,
		(ParamFloat<px4::params::RTL_LAND_DELAY>) _param_land_delay,
		(ParamFloat<px4::params::RTL_MIN_DIST>) _param_rtl_min_dist,
		(ParamInt<px4::params::RTL_LAND_TYPE>) _param_rtl_land_type
	)
};
