mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.6 KiB
C++
47 lines
1.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AC_PRECLAND_BACKEND_H__
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#define __AC_PRECLAND_BACKEND_H__
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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_PID/AC_PID.h>
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#include <AP_InertialNav/AP_InertialNav.h>
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#include "AC_PrecLand.h"
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class AC_PrecLand_Backend
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{
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public:
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// Constructor
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AC_PrecLand_Backend(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state) :
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_frontend(frontend),
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_state(state) {}
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// destructor
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virtual ~AC_PrecLand_Backend() {}
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// init - perform any required initialisation of backend controller
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virtual void init() = 0;
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// update - give chance to driver to get updates from sensor
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// returns true if new data available
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virtual bool update() = 0;
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// what frame of reference is our sensor reporting in?
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virtual MAV_FRAME get_frame_of_reference();
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// get_angle_to_target - returns angles (in radians) to target
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// returns true if angles are available, false if not (i.e. no target)
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// x_angle_rad : roll direction, positive = target is to right (looking down)
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// y_angle_rad : pitch direction, postiive = target is forward (looking down)
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virtual bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) = 0;
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// handle_msg - parses a mavlink message from the companion computer
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virtual void handle_msg(mavlink_message_t* msg) = 0;
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protected:
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const AC_PrecLand& _frontend; // reference to precision landing front end
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AC_PrecLand::precland_state &_state; // reference to this instances state
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};
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#endif // __AC_PRECLAND_BACKEND_H__
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