ardupilot/libraries/SITL/SIM_Precland.h

67 lines
1.9 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "stdint.h"
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_Common/Location.h>
namespace SITL {
class SIM_Precland {
public:
SIM_Precland() {
AP_Param::setup_object_defaults(this, var_info);
};
// update precland state
void update(const Location &loc, const Vector3f &position);
// true if precland sensor is online and healthy
bool healthy() const { return _healthy; }
// timestamp of most recent data read from the sensor
uint32_t last_update_ms() const { return _last_update_ms; }
const Vector3f &get_target_position() const { return _target_pos; }
bool is_enabled() const {return static_cast<bool>(_enable);}
void set_default_location(float lat, float lon, int16_t yaw);
static const struct AP_Param::GroupInfo var_info[];
AP_Int8 _enable;
AP_Float _origin_lat;
AP_Float _origin_lon;
AP_Float _origin_height;
AP_Int16 _orient_yaw;
AP_Int8 _type;
AP_Int32 _rate;
AP_Float _alt_limit;
AP_Float _dist_limit;
bool _over_precland_base;
enum PreclandType {
PRECLAND_TYPE_CYLINDER = 0,
PRECLAND_TYPE_CONE = 1,
PRECLAND_TYPE_SPHERE = 2,
};
private:
uint32_t _last_update_ms;
bool _healthy;
Vector3f _target_pos;
};
}