mirror of https://github.com/ArduPilot/ardupilot
80 lines
1.8 KiB
C++
80 lines
1.8 KiB
C++
#pragma once
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#include <AP_Beacon/AP_Beacon.h>
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#if AP_BEACON_ENABLED
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#include <AP_Logger/LogStructure.h>
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class AP_DAL_Beacon {
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public:
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// Beacon-like methods:
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uint8_t count() const {
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return _RBCH.count;
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}
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bool get_origin(Location &loc) const {
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loc.zero();
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loc.lat = _RBCH.origin_lat;
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loc.lng = _RBCH.origin_lng;
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loc.alt = _RBCH.origin_alt;
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return _RBCH.get_origin_returncode;
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}
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// return beacon enabled
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bool enabled(void) const {
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return _RBCH.enabled;
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}
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// return beacon health
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bool beacon_healthy(uint8_t i) const {
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return _RBCI[i].healthy;
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}
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// return last update time from beacon in milliseconds
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uint32_t beacon_last_update_ms(uint8_t i) const {
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return _RBCI[i].last_update_ms;
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}
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// return distance to beacon in meters
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float beacon_distance(uint8_t i) const {
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return _RBCI[i].distance;
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}
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// return NED position of beacon in meters relative to the beacon systems origin
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const Vector3f &beacon_position(uint8_t i) const {
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return _RBCI[i].position;
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}
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// return vehicle position in NED from position estimate system's origin in meters
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bool get_vehicle_position_ned(Vector3f& pos, float& accuracy_estimate) const {
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pos = _RBCH.vehicle_position_ned;
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accuracy_estimate = _RBCH.accuracy_estimate;
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return _RBCH.get_vehicle_position_ned_returncode;
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}
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// AP_DAL methods:
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AP_DAL_Beacon();
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AP_DAL_Beacon *beacon() {
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return this;
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}
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void start_frame();
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void handle_message(const log_RBCH &msg) {
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_RBCH = msg;
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}
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void handle_message(const log_RBCI &msg) {
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_RBCI[msg.instance] = msg;
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}
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private:
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struct log_RBCH _RBCH;
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struct log_RBCI _RBCI[AP_BEACON_MAX_BEACONS];
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};
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#endif // AP_BEACON_ENABLED
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