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https://github.com/ArduPilot/ardupilot
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41 lines
1023 B
C++
41 lines
1023 B
C++
#pragma once
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#include "AP_Proximity.h"
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#include "AP_Proximity_Backend.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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#include <AC_Fence/AC_PolyFence_loader.h>
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class AP_Proximity_SITL : public AP_Proximity_Backend
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{
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public:
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// constructor
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AP_Proximity_SITL(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
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// update state
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void update(void) override;
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const;
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float distance_min() const;
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private:
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SITL::SITL *sitl;
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Vector2l *fence;
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AP_Int8 *fence_count;
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uint32_t last_load_ms;
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AC_PolyFence_loader fence_loader;
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Location current_loc;
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// latest sector updated
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uint8_t last_sector;
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void load_fence(void);
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// get distance in meters to fence in a particular direction in degrees (0 is forward, angles increase in the clockwise direction)
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bool get_distance_to_fence(float angle_deg, float &distance) const;
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};
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#endif // CONFIG_HAL_BOARD
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