/* 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 . */ #pragma once #include "stdint.h" #include #include #include namespace SITL { class SIM_Precland { public: SIM_Precland() { AP_Param::setup_object_defaults(this, var_info); }; // update precland state void update(const Location &loc, const Vector3d &position); // true if precland sensor is online and healthy bool healthy() const { return _healthy; } // timestamp of most recent data read from the sensor uint32_t last_update_ms() const { return _last_update_ms; } const Vector3d &get_target_position() const { return _target_pos; } bool is_enabled() const {return static_cast(_enable);} void set_default_location(float lat, float lon, int16_t yaw); static const struct AP_Param::GroupInfo var_info[]; AP_Int8 _enable; AP_Float _origin_lat; AP_Float _origin_lon; AP_Float _origin_height; AP_Int16 _orient_yaw; AP_Int8 _type; AP_Int32 _rate; AP_Float _alt_limit; AP_Float _dist_limit; AP_Int8 _orient; bool _over_precland_base; enum PreclandType { PRECLAND_TYPE_CYLINDER = 0, PRECLAND_TYPE_CONE = 1, PRECLAND_TYPE_SPHERE = 2, }; private: uint32_t _last_update_ms; bool _healthy; Vector3d _target_pos; }; }