mirror of https://github.com/ArduPilot/ardupilot
38 lines
832 B
C++
38 lines
832 B
C++
/*
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* IRLock.cpp
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*
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* Created on: Nov 12, 2014
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* Author: MLandes
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*/
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#include "IRLock.h"
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// default constructor
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IRLock::IRLock() :
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_last_update(0),
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_num_targets(0)
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{
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// clear target info
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memset(_target_info, 0, sizeof(_target_info));
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// will be adjusted when init is called
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_flags.healthy = false;
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}
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IRLock::~IRLock() {}
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// get_angle_to_target - retrieve body frame x and y 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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bool IRLock::get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const
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{
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// return false if we have no target
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if (_num_targets == 0) {
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return false;
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}
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// use data from first object
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x_angle_rad = _target_info[0].angle_x;
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y_angle_rad = _target_info[0].angle_y;
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return true;
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}
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