mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.2 KiB
C++
78 lines
2.2 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 "stdint.h"
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/Location.h>
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namespace SITL {
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class SIM_Precland {
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public:
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SIM_Precland() {
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AP_Param::setup_object_defaults(this, var_info);
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};
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// update precland state
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void update(const Location &loc, const Vector3d &position);
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// true if precland sensor is online and healthy
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bool healthy() const { return _healthy; }
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// timestamp of most recent data read from the sensor
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uint32_t last_update_ms() const { return _last_update_ms; }
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const Vector3d &get_target_position() const { return _target_pos; }
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bool is_enabled() const {return static_cast<bool>(_enable);}
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void set_default_location(float lat, float lon, int16_t yaw);
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static const struct AP_Param::GroupInfo var_info[];
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// enum for SIM_PLD_OPTIONS parameter
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enum class Option : uint8_t {
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ENABLE_TARGET_DISTANCE = (1U << 0),
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};
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AP_Int8 _enable;
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AP_Float _device_lat;
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AP_Float _device_lon;
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AP_Float _device_height;
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AP_Int16 _orient_yaw;
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AP_Int8 _type;
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AP_Int32 _rate;
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AP_Float _alt_limit;
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AP_Float _dist_limit;
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AP_Int8 _orient;
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AP_Enum<Option> _options;
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bool _over_precland_base;
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enum PreclandType {
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PRECLAND_TYPE_CYLINDER = 0,
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PRECLAND_TYPE_CONE = 1,
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PRECLAND_TYPE_SPHERE = 2,
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};
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bool option_enabled(Option option) const {
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return (_options & uint8_t(option)) != 0;
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}
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private:
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uint32_t _last_update_ms;
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bool _healthy;
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Vector3d _target_pos;
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};
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}
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