mirror of https://github.com/ArduPilot/ardupilot
IRLock: many changes to integrate with PrecLand library
irlock_center_x_pos calculates the lateral x position of the marker in cm. relative to the quad irlock_x_pos_to_latlon rotates the frame based x position to latitude/longtitude based coordinates same case for the y position add get_angle_to_target method get_angle_to_target replaces pixel to position calculations Also removed ahrs reference (now in AC_PrecLand lib), unused references to orb and commented out parameter declaration reduce max objects to 5 remove ahrs reference add timeout return true if new sample found bug fix get_angle_to_target remove unused get_frame
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@ -29,55 +29,57 @@
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#include "AP_HAL.h"
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#include "drivers/drv_irlock.h"
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#include "uORB/topics/irlock.h"
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extern const AP_HAL::HAL& hal;
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AP_IRLock_PX4::AP_IRLock_PX4(const AP_AHRS &ahrs) :
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IRLock(ahrs),
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AP_IRLock_PX4::AP_IRLock_PX4() :
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_fd(0),
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_last_timestamp(0)
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{}
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void AP_IRLock_PX4::init()
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{
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_fd = open(IRLOCK_DEVICE_PATH, O_RDONLY);
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_fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY);
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if (_fd < 0) {
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hal.console->printf("Unable to open " IRLOCK_DEVICE_PATH "\n");
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hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n");
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return;
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}
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_flags.healthy = true;
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}
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void AP_IRLock_PX4::update()
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// retrieve latest sensor data - returns true if new data is available
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bool AP_IRLock_PX4::update()
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{
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if (!_flags.healthy)
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return;
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// return immediately if not healthy
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if (!_flags.healthy) {
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return false;
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}
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// struct irlock_s {
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// uint64_t timestamp; // microseconds since system start
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//
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// uint16_t signature;
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// uint16_t center_x;
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// uint16_t center_y;
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// uint16_t width;
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// uint16_t height;
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// uint16_t angle;
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// };
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// read position of all objects
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struct irlock_s report;
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_num_blocks = 0;
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uint16_t count = 0;
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while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s) && report.timestamp >_last_timestamp) {
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_current_frame[_num_blocks].signature = report.signature;
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_current_frame[_num_blocks].center_x = report.center_x;
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_current_frame[_num_blocks].center_y = report.center_y;
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_current_frame[_num_blocks].width = report.width;
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_current_frame[_num_blocks].height = report.height;
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_current_frame[count].signature = report.signature;
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_current_frame[count].center_x = report.center_x;
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_current_frame[count].center_y = report.center_y;
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_current_frame[count].width = report.width;
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_current_frame[count].height = report.height;
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++_num_blocks;
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count++;
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_last_timestamp = report.timestamp;
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_last_update = hal.scheduler->millis();
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}
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// update num_blocks and implement timeout
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if (count > 0) {
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_num_blocks = count;
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} else if ((hal.scheduler->millis() - _last_update) > IRLOCK_TIMEOUT_MS) {
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_num_blocks = 0;
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}
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// return true if new data found
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return (_num_blocks > 0);
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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@ -13,11 +13,13 @@
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class AP_IRLock_PX4 : public IRLock
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{
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public:
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AP_IRLock_PX4(const AP_AHRS &ahrs);
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AP_IRLock_PX4();
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// init - initialize sensor library
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virtual void init();
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virtual void update();
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// retrieve latest sensor data - returns true if new data is available
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virtual bool update();
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private:
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int _fd;
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@ -7,32 +7,13 @@
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#include "IRLock.h"
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// not sure what is going on here...
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//const AP_Param::GroupInfo IRLock::var_info[] PROGMEM = {
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// // @Param: ENABLE
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// // @DisplayName: Optical flow enable/disable
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// // @Description: Setting thisto Enabled(1) will enable irlock. Setting this to Disabled(0) will disable irlock.
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// // @Values: 0:Disabled, 1:Enabled
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// // @user: Standard
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// AP_GROUPINFO("_ENABLE", 0, IRLock, _enabled, 0),
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//
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// AP_GROUPEND
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//};
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// default constructor
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IRLock::IRLock(const AP_AHRS &ahrs) :
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_ahrs(ahrs),
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IRLock::IRLock() :
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_last_update(0),
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_num_blocks(0)
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{
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// can't figure out how to get this to set to enabled, so doing it manually
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// AP_Param::setup_object_defaults(this, var_info);
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_enabled = true;
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// clear the frame buffer
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for(int i = 0; i < IRLOCK_MAX_BLOCKS_PER_FRAME; ++i) {
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memset(&(_current_frame[i]), 0, sizeof(irlock_block));
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}
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memset(_current_frame, 0, sizeof(_current_frame));
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// will be adjusted when init is called
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_flags.healthy = false;
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IRLock::~IRLock() {}
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void IRLock::get_current_frame(irlock_block data[IRLOCK_MAX_BLOCKS_PER_FRAME]) const
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// get_angle_to_target - retrieve body frame x and y 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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bool IRLock::get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const
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{
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int index = 0;
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for (; index < _num_blocks; ++index) {
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data[index].signature = _current_frame[index].signature;
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data[index].center_x = _current_frame[index].center_x;
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data[index].center_y = _current_frame[index].center_y;
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data[index].width = _current_frame[index].width;
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data[index].height = _current_frame[index].height;
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// return false if we have no target
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if (_num_blocks == 0) {
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return false;
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}
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for (; index < IRLOCK_MAX_BLOCKS_PER_FRAME; ++index) {
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data[index].signature = 0;
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data[index].center_x = 0;
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data[index].center_y = 0;
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data[index].width = 0;
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data[index].height = 0;
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}
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// use data from first object
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x_angle_rad = (((float)(_current_frame[0].center_x-IRLOCK_CENTER_X))/IRLOCK_X_PIXEL_PER_DEGREE) * DEG_TO_RAD;
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y_angle_rad = (((float)(_current_frame[0].center_y-IRLOCK_CENTER_Y))/IRLOCK_Y_PIXEL_PER_DEGREE) * DEG_TO_RAD;
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return true;
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}
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@ -25,31 +25,32 @@
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#include "AP_AHRS.h"
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#define IRLOCK_MAX_BLOCKS_PER_FRAME 135
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#define IRLOCK_MAX_BLOCKS_PER_FRAME 5 // max number of blobs that can be detected by IR-LOCK sensor (should match PX4Firmware's irlock driver's IRLOCK_OBJECTS_MAX)
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#define IRLOCK_CENTER_X 159 // the center x pixel value
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#define IRLOCK_CENTER_Y 99 // the center y pixel value
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#define IRLOCK_NOBLOB_FRAME 10 // the number of consecutive similar frames that will cause the sensor validity variable to turn false
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#define IRLOCK_X_PIXEL_PER_DEGREE 5.374f // the x pixel to angle calibration variable
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#define IRLOCK_Y_PIXEL_PER_DEGREE 5.698f // the y pixel to angle calibration variable
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#define IRLOCK_TIMEOUT_MS 100 // remove all blocks if no data received within 0.1 seconds
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struct _irlock_block {
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typedef struct {
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uint16_t signature;
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uint16_t center_x;
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uint16_t center_y;
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uint16_t width;
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uint16_t height;
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};
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typedef struct _irlock_block irlock_block;
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} irlock_block;
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class IRLock
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{
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public:
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IRLock(const AP_AHRS &ahrs);
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IRLock();
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virtual ~IRLock();
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// init - initialize sensor library
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// library won't be useable unless this is first called
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virtual void init() = 0;
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// true if irlock is enabled
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bool enabled() const { return _enabled; }
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// true if irlock sensor is online and healthy
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bool healthy() const { return _flags.healthy; }
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// returns the number of blocks in the current frame
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size_t num_blocks() const { return _num_blocks; }
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// retrieve latest sensor data
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virtual void update() = 0;
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// retrieve latest sensor data - returns true if new data is available
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virtual bool update() = 0;
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// copies the current data frame
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void get_current_frame(irlock_block data[IRLOCK_MAX_BLOCKS_PER_FRAME]) const;
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// parameter var info table
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static const struct AP_Param::GroupInfo var_info[];
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// get_angle_to_target - retrieve body frame x and y 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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bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const;
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protected:
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struct AP_IRLock_Flags {
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uint8_t healthy : 1; // true if sensor is healthy
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} _flags;
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// external references
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const AP_AHRS &_ahrs;
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// parameters
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AP_Int8 _enabled;
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// internals
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uint32_t _last_update;
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size_t _num_blocks;
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uint16_t _num_blocks;
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irlock_block _current_frame[IRLOCK_MAX_BLOCKS_PER_FRAME];
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};
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