mirror of https://github.com/ArduPilot/ardupilot
116 lines
4.0 KiB
C++
116 lines
4.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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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 <AP_InertialNav/AP_InertialNav.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <stdint.h>
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// declare backend classes
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class AC_PrecLand_Backend;
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class AC_PrecLand_Companion;
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class AC_PrecLand_IRLock;
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class AC_PrecLand
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{
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// declare backends as friends
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friend class AC_PrecLand_Backend;
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friend class AC_PrecLand_Companion;
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friend class AC_PrecLand_IRLock;
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public:
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// precision landing behaviours (held in PRECLAND_ENABLED parameter)
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enum PrecLandBehaviour {
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PRECLAND_BEHAVIOUR_DISABLED,
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PRECLAND_BEHAVIOR_ALWAYSLAND,
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PRECLAND_BEHAVIOR_CAUTIOUS
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};
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// types of precision landing (used for PRECLAND_TYPE parameter)
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enum PrecLandType {
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PRECLAND_TYPE_NONE = 0,
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PRECLAND_TYPE_COMPANION,
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PRECLAND_TYPE_IRLOCK
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};
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// constructor
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AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav);
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// perform any required initialisation of landing controllers
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void init();
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// returns true if precision landing is healthy
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bool healthy() { return _backend_state.healthy; }
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// returns time of last update
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uint32_t last_update_ms() { return _last_update_ms; }
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// give chance to driver to get updates from sensor
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void update(float alt_above_terrain_cm);
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// returns 3D vector of earth-frame position adjustments to target
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Vector3f get_target_shift(const Vector3f& orig_target);
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// returns target position relative to origin
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bool get_target_position(Vector3f& ret);
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// returns target position relative to vehicle
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bool get_target_position_relative(Vector3f& ret);
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// returns target velocity relative to vehicle
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bool get_target_velocity_relative(Vector3f& ret);
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// returns true when the landing target has been detected
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bool target_acquired();
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// process a LANDING_TARGET mavlink message
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void handle_msg(mavlink_message_t* msg);
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// accessors for logging
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bool enabled() const { return _enabled; }
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const Vector2f& last_bf_angle_to_target() const { return _angle_to_target; }
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const Vector2f& last_ef_angle_to_target() const { return _ef_angle_to_target; }
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const Vector3f& last_target_pos_offset() const { return _target_pos_rel; }
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// parameter var table
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// converts sensor's body-frame angles to earth-frame angles and position estimate
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// angles stored in _angle_to_target
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// earth-frame angles stored in _ef_angle_to_target
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// position estimate is stored in _target_pos
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void calc_angles_and_pos(const Vector3f& target_vec_unit_body, float alt_above_terrain_cm);
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// returns enabled parameter as an behaviour
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enum PrecLandBehaviour get_behaviour() const { return (enum PrecLandBehaviour)(_enabled.get()); }
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// references to inertial nav and ahrs libraries
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const AP_AHRS& _ahrs;
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const AP_InertialNav& _inav;
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// parameters
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AP_Int8 _enabled; // enabled/disabled and behaviour
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AP_Int8 _type; // precision landing controller type
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uint32_t _last_update_ms; // epoch time in millisecond when update is called
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uint32_t _last_backend_los_meas_ms;
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// output from sensor (stored for logging)
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Vector2f _angle_to_target; // last raw sensor angle to target
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Vector2f _ef_angle_to_target;// last earth-frame angle to target
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// estimator output
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Vector3f _target_pos_rel; // estimate target position relative to vehicle in NEU cm
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Vector3f _target_pos; // estimate target position in NEU cm
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// backend state
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struct precland_state {
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bool healthy;
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} _backend_state;
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AC_PrecLand_Backend *_backend; // pointers to backend precision landing driver
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};
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