mirror of https://github.com/ArduPilot/ardupilot
96 lines
3.4 KiB
C++
96 lines
3.4 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 <AP_InertialNav/AP_InertialNav.h>
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// declare backend classes
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class AC_PrecLand_Backend;
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class AC_PrecLand_Companion;
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class AC_PrecLand_IRLock;
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class AC_PrecLand
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{
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// declare backends as friends
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friend class AC_PrecLand_Backend;
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friend class AC_PrecLand_Companion;
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friend class AC_PrecLand_IRLock;
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public:
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// precision landing behaviours (held in PRECLAND_ENABLED parameter)
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enum PrecLandBehaviour {
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PRECLAND_BEHAVIOUR_DISABLED,
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PRECLAND_BEHAVIOR_ALWAYSLAND,
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PRECLAND_BEHAVIOR_CAUTIOUS
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};
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// types of precision landing (used for PRECLAND_TYPE parameter)
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enum PrecLandType {
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PRECLAND_TYPE_NONE = 0,
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PRECLAND_TYPE_COMPANION,
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PRECLAND_TYPE_IRLOCK
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};
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// Constructor
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AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav);
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// init - perform any required initialisation of landing controllers
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void init();
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// healthy - returns true if precision landing is healthy
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bool healthy() { return _backend_state.healthy; }
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// update - give chance to driver to get updates from sensor
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void update(float alt_above_terrain_cm);
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// get_target_shift - returns 3D vector of earth-frame position adjustments to target
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Vector3f get_target_shift(const Vector3f& orig_target);
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// handle_msg - Process a LANDING_TARGET mavlink message
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void handle_msg(mavlink_message_t* msg);
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// accessors for logging
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bool enabled() const { return _enabled; }
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const Vector2f& last_bf_angle_to_target() const { return _angle_to_target; }
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const Vector2f& last_ef_angle_to_target() const { return _ef_angle_to_target; }
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const Vector3f& last_target_pos_offset() const { return _target_pos_offset; }
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// parameter var table
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// calc_angles_and_pos - converts sensor's body-frame angles to earth-frame angles and position estimate
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// angles stored in _angle_to_target
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// earth-frame angles stored in _ef_angle_to_target
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// position estimate is stored in _target_pos
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void calc_angles_and_pos(float alt_above_terrain_cm);
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// get_behaviour - returns enabled parameter as an behaviour
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enum PrecLandBehaviour get_behaviour() const { return (enum PrecLandBehaviour)(_enabled.get()); }
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// references to inertial nav and ahrs libraries
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const AP_AHRS& _ahrs;
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const AP_InertialNav& _inav;
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// parameters
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AP_Int8 _enabled; // enabled/disabled and behaviour
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AP_Int8 _type; // precision landing controller type
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// output from sensor (stored for logging)
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Vector2f _angle_to_target; // last raw sensor angle to target
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Vector2f _ef_angle_to_target;// last earth-frame angle to target
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// output from controller
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bool _have_estimate; // true if we have a recent estimated position offset
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Vector3f _target_pos_offset; // estimate target position offset from vehicle in earth-frame
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// backend state
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struct precland_state {
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bool healthy;
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} _backend_state;
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AC_PrecLand_Backend *_backend; // pointers to backend precision landing driver
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};
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