ardupilot/libraries/AC_PrecLand/AC_PrecLand_Companion.h

50 lines
1.8 KiB
C++

#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include "AC_PrecLand_Backend.h"
/*
* AC_PrecLand_Companion - implements precision landing using target vectors provided
* by a companion computer (i.e. Odroid) communicating via MAVLink
* The companion computer must provide "Line-Of-Sight" measurements
* in the form of LANDING_TARGET mavlink messages.
*/
class AC_PrecLand_Companion : public AC_PrecLand_Backend
{
public:
// Constructor
using AC_PrecLand_Backend::AC_PrecLand_Backend;
// perform any required initialisation of backend
void init() override;
// retrieve updates from sensor
void update() override;
// provides a unit vector towards the target in body frame
// returns same as have_los_meas()
bool get_los_body(Vector3f& ret) override;
// returns system time in milliseconds of last los measurement
uint32_t los_meas_time_ms() override;
// return true if there is a valid los measurement available
bool have_los_meas() override;
// returns distance to target in meters (0 means distance is not known)
float distance_to_target() override;
// parses a mavlink message from the companion computer
void handle_msg(mavlink_message_t* msg) override;
private:
uint64_t _timestamp_us; // timestamp from message
float _distance_to_target; // distance from the camera to target in meters
Vector3f _los_meas_body; // unit vector in body frame pointing towards target
bool _have_los_meas; // true if there is a valid measurement from the camera
uint32_t _los_meas_time_ms; // system time in milliseconds when los was measured
};