mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.1 KiB
C++
65 lines
2.1 KiB
C++
#pragma once
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#include "AC_PrecLand_config.h"
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#if AC_PRECLAND_ENABLED
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#include "AC_PrecLand.h"
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#include <AP_Math/AP_Math.h>
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#include <AC_PID/AC_PID.h>
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class AC_PrecLand_Backend
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{
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public:
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// Constructor
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AC_PrecLand_Backend(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state) :
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_frontend(frontend),
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_state(state) {}
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// destructor
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virtual ~AC_PrecLand_Backend() {}
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// perform any required initialisation of backend
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virtual void init() = 0;
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// retrieve updates from sensor
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virtual void update() = 0;
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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 get_los_body(Vector3f& dir_body) {
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if (have_los_meas()) {
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dir_body = _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 los_meas_time_ms() { return _los_meas_time_ms; };
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// return true if there is a valid los measurement available
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bool have_los_meas() { return _have_los_meas; };
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// returns distance to target in meters (0 means distance is not known)
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float distance_to_target() { return _distance_to_target; };
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// parses a mavlink message from the companion computer
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virtual void handle_msg(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) {};
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// get bus parameter
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int8_t get_bus(void) const { return _frontend._bus.get(); }
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protected:
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const AC_PrecLand& _frontend; // reference to precision landing front end
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AC_PrecLand::precland_state &_state; // reference to this instances state
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Vector3f _los_meas_body; // unit vector in body frame pointing towards target
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uint32_t _los_meas_time_ms; // system time in milliseconds when los was measured
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bool _have_los_meas; // true if there is a valid measurement from the sensor
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float _distance_to_target; // distance from the sensor to landing target in meters
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};
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#endif // AC_PRECLAND_ENABLED
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