mirror of https://github.com/ArduPilot/ardupilot
38 lines
1.1 KiB
C++
38 lines
1.1 KiB
C++
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#include <AC_PrecLand_IRLock.h>
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extern const AP_HAL::HAL& hal;
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// Constructor
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AC_PrecLand_IRLock::AC_PrecLand_IRLock(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state)
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: AC_PrecLand_Backend(frontend, state),
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irlock()
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{
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}
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// init - perform initialisation of this backend
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void AC_PrecLand_IRLock::init()
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{
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irlock.init();
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// set healthy
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_state.healthy = irlock.healthy();
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}
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// update - give chance to driver to get updates from sensor
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bool AC_PrecLand_IRLock::update()
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{
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// get new sensor data
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return (irlock.update());
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}
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// get_angle_to_target - returns body frame angles (in radians) to target
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// returns true if angles are available, false if not (i.e. no target)
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// x_angle_rad : body-frame roll direction, positive = target is to right (looking down)
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// y_angle_rad : body-frame pitch direction, postiive = target is forward (looking down)
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bool AC_PrecLand_IRLock::get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const
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{
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return irlock.get_angle_to_target(x_angle_rad, y_angle_rad);
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}
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