ardupilot/libraries/AC_PrecLand/AC_PrecLand_SITL_Gazebo.h

48 lines
1.4 KiB
C++

#pragma once
#include "AC_PrecLand_config.h"
#if AC_PRECLAND_SITL_GAZEBO_ENABLED
#include <AC_PrecLand/AC_PrecLand_Backend.h>
#include <AP_Math/AP_Math.h>
#include <AP_IRLock/AP_IRLock_SITL_Gazebo.h>
/*
* AC_PrecLand_SITL_Gazebo - implements precision landing using target
* vectors provided Gazebo via a network socket
*/
class AC_PrecLand_SITL_Gazebo : public AC_PrecLand_Backend
{
public:
// Constructor
AC_PrecLand_SITL_Gazebo(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state);
// 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;
private:
AP_IRLock_SITL_Gazebo irlock;
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
};
#endif // AC_PRECLAND_SITL_GAZEBO_ENABLED