rtl.cpp

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// Copyright 2024 Robin Müller
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include "auto_apms_interfaces/action/rtl.hpp"
 
#include "auto_apms_px4/constants.hpp"
#include "auto_apms_px4/mode_executor.hpp"
 
namespace auto_apms_px4
{
 
class RTLTask : public ModeExecutor<auto_apms_interfaces::action::RTL>
{
public:
  explicit RTLTask(const rclcpp::NodeOptions& options) : ModeExecutor{ RTL_TASK_NAME, options, FlightMode::RTL }
  {
  }
 
private:
  // PX4 seems to not always give a completed signal for RTL, so check for disarmed as a fallback completed state
  bool isCompleted(std::shared_ptr<const Goal> goal_ptr, const px4_msgs::msg::VehicleStatus& vehicle_status)
  {
    return ModeExecutor::isCompleted(goal_ptr, vehicle_status) ||
           vehicle_status.arming_state == px4_msgs::msg::VehicleStatus::ARMING_STATE_DISARMED;
  }
};
 
}  // namespace auto_apms_px4
 
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(auto_apms_px4::RTLTask)