mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.5 KiB
C++
59 lines
1.5 KiB
C++
#include "AC_PrecLand_config.h"
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#if AC_PRECLAND_IRLOCK_ENABLED
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#include "AC_PrecLand_IRLock.h"
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#include <AP_HAL/AP_HAL.h>
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// Constructor
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AC_PrecLand_IRLock::AC_PrecLand_IRLock(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state)
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: AC_PrecLand_Backend(frontend, state),
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irlock()
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{
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}
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// init - perform initialisation of this backend
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void AC_PrecLand_IRLock::init()
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{
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irlock.init(get_bus());
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}
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// update - give chance to driver to get updates from sensor
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void AC_PrecLand_IRLock::update()
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{
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// update health
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_state.healthy = irlock.healthy();
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// get new sensor data
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irlock.update();
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if (irlock.num_targets() > 0 && irlock.last_update_ms() != _los_meas_time_ms) {
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irlock.get_unit_vector_body(_los_meas_body);
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_have_los_meas = true;
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_los_meas_time_ms = irlock.last_update_ms();
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}
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_have_los_meas = _have_los_meas && AP_HAL::millis()-_los_meas_time_ms <= 1000;
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}
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// provides a unit vector towards the target in body frame
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// returns same as have_los_meas()
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bool AC_PrecLand_IRLock::get_los_body(Vector3f& ret) {
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if (have_los_meas()) {
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ret = _los_meas_body;
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return true;
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}
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return false;
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}
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// returns system time in milliseconds of last los measurement
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uint32_t AC_PrecLand_IRLock::los_meas_time_ms() {
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return _los_meas_time_ms;
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}
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// return true if there is a valid los measurement available
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bool AC_PrecLand_IRLock::have_los_meas() {
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return _have_los_meas;
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}
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#endif // AC_PRECLAND_IRLOCK_ENABLED
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