mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.7 KiB
C++
79 lines
2.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* IRLock.h - IRLock Base Class for Ardupilot
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*
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* Created on: Nov 10, 2014
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* Author: MLandes
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*/
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#pragma once
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#include <AP_AHRS/AP_AHRS.h>
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#define IRLOCK_MAX_TARGETS 5 // max number of targets that can be detected by IR-LOCK sensor (should match PX4Firmware's irlock driver's IRLOCK_OBJECTS_MAX)
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class IRLock
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{
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public:
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IRLock();
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virtual ~IRLock();
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// init - initialize sensor library
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// library won't be useable unless this is first called
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virtual void init() = 0;
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// true if irlock sensor is online and healthy
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bool healthy() const { return _flags.healthy; }
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// timestamp of most recent data read from the sensor
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uint32_t last_update_ms() const { return _last_update_ms; }
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// returns the number of blocks in the current frame
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size_t num_targets() const { return _num_targets; }
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// retrieve latest sensor data - returns true if new data is available
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virtual bool update() = 0;
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// retrieve body frame x and y angles (in radians) to target
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// returns true if data is available
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bool get_angle_to_target_rad(float &x_angle_rad, float &y_angle_rad) const;
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// retrieve body frame unit vector in direction of target
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// returns true if data is available
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bool get_unit_vector_body(Vector3f& ret) const;
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protected:
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struct AP_IRLock_Flags {
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uint8_t healthy : 1; // true if sensor is healthy
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} _flags;
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// internals
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uint32_t _last_update_ms;
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uint16_t _num_targets;
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// irlock_target_info is a duplicate of the PX4Firmware irlock_s structure
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typedef struct {
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uint64_t timestamp; // microseconds since system start
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float pos_x; // x-axis distance from center of image to center of target in units of tan(theta)
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float pos_y; // y-axis distance from center of image to center of target in units of tan(theta)
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float size_x; // size of target along x-axis in units of tan(theta)
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float size_y; // size of target along y-axis in units of tan(theta)
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} irlock_target_info;
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irlock_target_info _target_info[IRLOCK_MAX_TARGETS];
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};
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