mirror of https://github.com/ArduPilot/ardupilot
68 lines
1.8 KiB
C++
68 lines
1.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL/AP_HAL.h>
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#include "AC_PrecLand_Companion.h"
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extern const AP_HAL::HAL& hal;
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// Constructor
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AC_PrecLand_Companion::AC_PrecLand_Companion(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state)
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: AC_PrecLand_Backend(frontend, state),
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_timestamp_us(0),
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_distance_to_target(0.0f),
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_have_los_meas(false),
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_los_meas_time_ms(0)
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{
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}
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// perform any required initialisation of backend
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void AC_PrecLand_Companion::init()
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{
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// set healthy
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_state.healthy = true;
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_have_los_meas = false;
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}
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// retrieve updates from sensor
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void AC_PrecLand_Companion::update()
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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_Companion::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_Companion::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_Companion::have_los_meas()
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{
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return _have_los_meas;
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}
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void AC_PrecLand_Companion::handle_msg(mavlink_message_t* msg)
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{
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// parse mavlink message
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__mavlink_landing_target_t packet;
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mavlink_msg_landing_target_decode(msg, &packet);
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_timestamp_us = packet.time_usec;
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_distance_to_target = packet.distance;
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// compute unit vector towards target
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_los_meas_body = Vector3f(-tanf(packet.angle_y), tanf(packet.angle_x), 1.0f);
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_los_meas_body /= _los_meas_body.length();
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_los_meas_time_ms = AP_HAL::millis();
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_have_los_meas = true;
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}
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