mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
#pragma once
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#include "AC_PrecLand_config.h"
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#if AC_PRECLAND_IRLOCK_ENABLED
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#include <AC_PrecLand/AC_PrecLand_Backend.h>
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#include <AP_Math/AP_Math.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_IRLock/AP_IRLock_SITL.h>
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#else
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#include <AP_IRLock/AP_IRLock.h>
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#endif
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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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// perform any required initialisation of backend
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void init() override;
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// retrieve updates from sensor
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void update() override;
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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 get_los_body(Vector3f& ret) override;
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// returns system time in milliseconds of last los measurement
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uint32_t los_meas_time_ms() override;
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// return true if there is a valid los measurement available
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bool have_los_meas() override;
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private:
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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AP_IRLock_SITL irlock;
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#else
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AP_IRLock_I2C irlock;
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#endif
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Vector3f _los_meas_body; // unit vector in body frame pointing towards target
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bool _have_los_meas; // true if there is a valid measurement from the camera
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uint32_t _los_meas_time_ms; // system time in milliseconds when los was measured
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};
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#endif // AC_PRECLAND_IRLOCK_ENABLED
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