mirror of https://github.com/ArduPilot/ardupilot
58 lines
2.0 KiB
C++
58 lines
2.0 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "AC_PrecLand_SITL.h"
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#if AC_PRECLAND_SITL_ENABLED
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#include "AP_AHRS/AP_AHRS.h"
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// init - perform initialisation of this backend
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void AC_PrecLand_SITL::init()
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{
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_sitl = AP::sitl();
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}
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// update - give chance to driver to get updates from sensor
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void AC_PrecLand_SITL::update()
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{
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_state.healthy = _sitl->precland_sim.healthy();
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if (_state.healthy && _sitl->precland_sim.last_update_ms() != _los_meas_time_ms) {
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const Vector3d position = _sitl->precland_sim.get_target_position();
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const Matrix3d body_to_ned = AP::ahrs().get_rotation_body_to_ned().todouble();
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_los_meas_body = body_to_ned.mul_transpose(-position).tofloat();
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_distance_to_target = _sitl->precland_sim.option_enabled(SITL::SIM_Precland::Option::ENABLE_TARGET_DISTANCE) ? _los_meas_body.length() : 0.0f;
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_los_meas_body /= _los_meas_body.length();
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if (_frontend._orient != Rotation::ROTATION_PITCH_270) {
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// rotate body frame vector based on orientation
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// this is done to have homogeneity among backends
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// frontend rotates it back to get correct body frame vector
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_los_meas_body.rotate_inverse(_frontend._orient);
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_los_meas_body.rotate_inverse(ROTATION_PITCH_90);
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}
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_have_los_meas = true;
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_los_meas_time_ms = _sitl->precland_sim.last_update_ms();
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} else {
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_have_los_meas = false;
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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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bool AC_PrecLand_SITL::have_los_meas() {
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return 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_SITL::get_los_body(Vector3f& ret) {
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if (AP_HAL::millis() - _los_meas_time_ms > 1000) {
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// no measurement for a full second; no vector available
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return false;
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}
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ret = _los_meas_body;
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return true;
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}
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#endif // AC_PRECLAND_SITL_ENABLED
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