mirror of https://github.com/ArduPilot/ardupilot
63 lines
2.1 KiB
C++
63 lines
2.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Beacon.h"
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class AP_Beacon_Backend
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{
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public:
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// constructor. This incorporates initialisation as well.
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AP_Beacon_Backend(AP_Beacon &frontend);
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// return true if sensor is basically healthy (we are receiving data)
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virtual bool healthy() = 0;
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// update
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virtual void update() = 0;
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// set vehicle position
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// pos should be in meters in NED frame from the beacon's local origin
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// accuracy_estimate is also in meters
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void set_vehicle_position(const Vector3f& pos, float accuracy_estimate);
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// set individual beacon distance from vehicle in meters in NED frame
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void set_beacon_distance(uint8_t beacon_instance, float distance);
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// set beacon's position
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// pos should be in meters in NED from the beacon's local origin
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void set_beacon_position(uint8_t beacon_instance, const Vector3f& pos);
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float get_beacon_origin_lat(void) const { return _frontend.origin_lat; }
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float get_beacon_origin_lon(void) const { return _frontend.origin_lon; }
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float get_beacon_origin_alt(void) const { return _frontend.origin_alt; }
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protected:
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// references
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AP_Beacon &_frontend;
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// yaw correction
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int16_t orient_yaw_deg; // cached version of orient_yaw parameter
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float orient_cos_yaw = 0.0f;
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float orient_sin_yaw = 1.0f;
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// yaw correction methods
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Vector3f correct_for_orient_yaw(const Vector3f &vector);
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};
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