/home/travis/build/lis-epfl/MAVRIC_Library/mission/mission_handler_hold_position.hpp

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/*******************************************************************************
 * \file mission_handler_hold_position.hpp
 *
 * \author MAV'RIC Team
 * \author Matthew Douglas
 * \author Julien Lecoeur
 *
 * \brief The mission handler for the hold position state
 *
 ******************************************************************************/


#ifndef MISSION_HANDLER_HOLD_POSITION_HPP_
#define MISSION_HANDLER_HOLD_POSITION_HPP_

#include "mission/mission_handler.hpp"
#include "navigation/navigation.hpp"

/*
 * \brief   The mission handler for the hold position state
 */
class Mission_handler_hold_position : public Mission_handler
{
public:
     Mission_handler_hold_position(const INS& ins);


    virtual bool can_handle(const Waypoint& wpt) const;


    virtual bool setup(const Waypoint& wpt);


    virtual Mission_handler::update_status_t update();


    virtual bool write_flight_command(Flight_controller& flight_controller) const;


    virtual Mission_planner::internal_state_t handler_mission_state() const;

protected:
    Waypoint waypoint_;                 
    uint64_t start_time_;               
    bool within_radius_;                

    const INS& ins_;                    
};

#endif // MISSION_HANDLER_HOLD_POSITION_HPP_