mirror of https://github.com/ArduPilot/ardupilot
68 lines
1.9 KiB
C++
68 lines
1.9 KiB
C++
/*
|
|
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/>.
|
|
*/
|
|
|
|
#pragma once
|
|
#include "stdint.h"
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_Common/Location.h>
|
|
|
|
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<bool>(_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;
|
|
};
|
|
|
|
}
|