ardupilot/libraries/AC_PrecLand/AC_PrecLand_SITL.h

43 lines
1.3 KiB
C++

#pragma once
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <AP_Math/AP_Math.h>
#include <AC_PrecLand/AC_PrecLand_Backend.h>
#include <SITL/SITL.h>
/*
* AC_PrecLand_SITL - supplies vectors to a fake landing target
*/
class AC_PrecLand_SITL : public AC_PrecLand_Backend
{
public:
// Constructor
using AC_PrecLand_Backend::AC_PrecLand_Backend;
// perform any required initialisation of backend
void init() override;
// retrieve updates from sensor
void update() override;
// provides a unit vector towards the target in body frame
// returns same as have_los_meas()
bool get_los_body(Vector3f& ret) override;
// returns system time in milliseconds of last los measurement
uint32_t los_meas_time_ms() override { return _los_meas_time_ms; }
// return true if there is a valid los measurement available
bool have_los_meas() override;
private:
SITL::SITL *_sitl; // sitl instance pointer
Vector3f _los_meas_body; // unit vector in body frame pointing towards target
uint32_t _los_meas_time_ms; // system time in milliseconds when los was measured
bool _have_los_meas; // true if there is a valid measurement from the camera
};
#endif