mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.8 KiB
C++
50 lines
1.8 KiB
C++
#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 "AC_PrecLand_Backend.h"
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/*
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* AC_PrecLand_Companion - implements precision landing using target vectors provided
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* by a companion computer (i.e. Odroid) communicating via MAVLink
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* The companion computer must provide "Line-Of-Sight" measurements
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* in the form of LANDING_TARGET mavlink messages.
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*/
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class AC_PrecLand_Companion : public AC_PrecLand_Backend
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{
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public:
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// Constructor
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using AC_PrecLand_Backend::AC_PrecLand_Backend;
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// perform any required initialisation of backend
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void init() override;
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// retrieve updates from sensor
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void update() override;
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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& ret) override;
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// returns system time in milliseconds of last los measurement
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uint32_t los_meas_time_ms() override;
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// return true if there is a valid los measurement available
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bool have_los_meas() override;
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// returns distance to target in meters (0 means distance is not known)
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float distance_to_target() override;
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// parses a mavlink message from the companion computer
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void handle_msg(mavlink_message_t* msg) override;
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private:
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uint64_t _timestamp_us; // timestamp from message
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float _distance_to_target; // distance from the camera to target in meters
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Vector3f _los_meas_body; // unit vector in body frame pointing towards target
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bool _have_los_meas; // true if there is a valid measurement from the camera
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uint32_t _los_meas_time_ms; // system time in milliseconds when los was measured
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};
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