ardupilot/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp

70 lines
2.0 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL/AP_HAL.h>
#include "AC_PrecLand_Companion.h"
extern const AP_HAL::HAL& hal;
// Constructor
AC_PrecLand_Companion::AC_PrecLand_Companion(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state)
: AC_PrecLand_Backend(frontend, state),
_frame(MAV_FRAME_BODY_NED),
_distance_to_target(0.0f),
_timestamp_us(0),
_new_estimate(false)
{
}
// init - perform initialisation of this backend
void AC_PrecLand_Companion::init()
{
// set healthy
_state.healthy = true;
_new_estimate = false;
}
// update - give chance to driver to get updates from sensor
// returns true if new data available
bool AC_PrecLand_Companion::update()
{
// Mavlink commands are received asynchronous so all new data is processed by handle_msg()
return _new_estimate;
}
MAV_FRAME AC_PrecLand_Companion::get_frame_of_reference()
{
return _frame;
}
// get_angle_to_target - returns angles (in radians) to target
// returns true if angles are available, false if not (i.e. no target)
// x_angle_rad : roll direction, positive = target is to right (looking down)
// y_angle_rad : pitch direction, postiive = target is forward (looking down)
bool AC_PrecLand_Companion::get_angle_to_target(float &x_angle_rad, float &y_angle_rad)
{
if (_new_estimate){
x_angle_rad = _angle_to_target.x;
y_angle_rad = _angle_to_target.y;
// reset and wait for new data
_new_estimate = false;
return true;
}
return false;
}
void AC_PrecLand_Companion::handle_msg(mavlink_message_t* msg)
{
// parse mavlink message
__mavlink_landing_target_t packet;
mavlink_msg_landing_target_decode(msg, &packet);
_timestamp_us = packet.time_usec;
_frame = (MAV_FRAME) packet.frame;
_angle_to_target.x = packet.angle_x;
_angle_to_target.y = packet.angle_y;
_distance_to_target = packet.distance;
_state.healthy = true;
_new_estimate = true;
}