ardupilot/libraries/AP_Beacon/AP_Beacon_Backend.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_Beacon_Backend.h"
#if AP_BEACON_ENABLED
// debug
#include <stdio.h>
#include <AP_SerialManager/AP_SerialManager.h>
/*
base class constructor.
This incorporates initialisation as well.
*/
AP_Beacon_Backend::AP_Beacon_Backend(AP_Beacon &frontend) :
_frontend(frontend)
{
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const AP_SerialManager &serialmanager = AP::serialmanager();
uart = serialmanager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);
if (uart == nullptr) {
return;
}
uart->begin(serialmanager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
}
// set vehicle position
// pos should be in meters in NED frame from the beacon's local origin
// accuracy_estimate is also in meters
void AP_Beacon_Backend::set_vehicle_position(const Vector3f& pos, float accuracy_estimate)
{
_frontend.veh_pos_update_ms = AP_HAL::millis();
_frontend.veh_pos_accuracy = accuracy_estimate;
_frontend.veh_pos_ned = correct_for_orient_yaw(pos);
}
// set individual beacon distance from vehicle in meters in NED frame
void AP_Beacon_Backend::set_beacon_distance(uint8_t beacon_instance, float distance)
{
// sanity check instance
if (beacon_instance >= AP_BEACON_MAX_BEACONS) {
return;
}
// setup new beacon
if (beacon_instance >= _frontend.num_beacons) {
_frontend.num_beacons = beacon_instance+1;
}
_frontend.beacon_state[beacon_instance].distance_update_ms = AP_HAL::millis();
_frontend.beacon_state[beacon_instance].distance = distance;
_frontend.beacon_state[beacon_instance].healthy = true;
}
// set beacon's position
// pos should be in meters in NED from the beacon's local origin
void AP_Beacon_Backend::set_beacon_position(uint8_t beacon_instance, const Vector3f& pos)
{
// sanity check instance
if (beacon_instance >= AP_BEACON_MAX_BEACONS) {
return;
}
// setup new beacon
if (beacon_instance >= _frontend.num_beacons) {
_frontend.num_beacons = beacon_instance+1;
}
// set position after correcting yaw
_frontend.beacon_state[beacon_instance].position = correct_for_orient_yaw(pos);
}
// rotate vector (meters) to correct for beacon system yaw orientation
Vector3f AP_Beacon_Backend::correct_for_orient_yaw(const Vector3f &vector)
{
// exit immediately if no correction
if (_frontend.orient_yaw == 0) {
return vector;
}
// check for change in parameter value and update constants
if (orient_yaw_deg != _frontend.orient_yaw) {
_frontend.orient_yaw.set(wrap_180(_frontend.orient_yaw.get()));
// calculate rotation constants
orient_yaw_deg = _frontend.orient_yaw;
orient_cos_yaw = cosf(radians(orient_yaw_deg));
orient_sin_yaw = sinf(radians(orient_yaw_deg));
}
// rotate x,y by -orient_yaw
Vector3f vec_rotated;
vec_rotated.x = vector.x*orient_cos_yaw - vector.y*orient_sin_yaw;
vec_rotated.y = vector.x*orient_sin_yaw + vector.y*orient_cos_yaw;
vec_rotated.z = vector.z;
return vec_rotated;
}
#endif // AP_BEACON_ENABLED