mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.6 KiB
C++
47 lines
1.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AC_PrecLand/AC_PrecLand_Backend.h>
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#include <AP_IRLock/AP_IRLock.h>
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// this only builds for PX4 so far
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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/*
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* AC_PrecLand_IRLock - implements precision landing using target vectors provided
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* by a companion computer (i.e. Odroid) communicating via MAVLink
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*/
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class AC_PrecLand_IRLock : public AC_PrecLand_Backend
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{
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public:
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// Constructor
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AC_PrecLand_IRLock(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state);
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// init - perform any required initialisation of backend controller
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void init();
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// update - give chance to driver to get updates from sensor
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// returns true if new data available
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bool update();
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// IRLock is hard-mounted to the frame of the vehicle, so it will always be in body-frame
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MAV_FRAME get_frame_of_reference() { return MAV_FRAME_BODY_NED; }
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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 get_angle_to_target(float &x_angle_rad, float &y_angle_rad);
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// handle_msg - parses a mavlink message from the companion computer
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void handle_msg(mavlink_message_t* msg) { /* do nothing */ }
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private:
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AP_IRLock_PX4 irlock;
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};
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#endif
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