mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.9 KiB
C++
59 lines
1.9 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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* AP_IRLock_SITL.cpp
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*
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* Created on: June 09, 2016
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* Author: Ian Chen
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_IRLock_SITL.h"
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#include "AP_AHRS/AP_AHRS.h"
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void AP_IRLock_SITL::init(int8_t bus)
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{
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_sitl = AP::sitl();
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_sitl->precland_sim._type.set_and_notify(SITL::SIM_Precland::PreclandType::PRECLAND_TYPE_CONE);
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}
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// retrieve latest sensor data - returns true if new data is available
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bool AP_IRLock_SITL::update()
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{
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// return immediately if not healthy
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_flags.healthy = _sitl->precland_sim.healthy();
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if (!_flags.healthy) {
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return false;
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}
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if (_sitl->precland_sim.last_update_ms() != _last_timestamp) {
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const Vector3d position = _sitl->precland_sim.get_target_position();
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const Matrix3d body_to_ned = AP::ahrs().get_rotation_body_to_ned().todouble();
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const Vector3d real_position = body_to_ned.mul_transpose(-position);
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_last_timestamp = _sitl->precland_sim.last_update_ms();
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_last_update_ms = _last_timestamp;
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_target_info.timestamp = _last_timestamp;
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_target_info.pos_x = real_position.y;
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_target_info.pos_y = -real_position.x;
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_target_info.pos_z = real_position.z;
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return true;
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}
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return false;
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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