ardupilot/libraries/AC_PrecLand/AC_PrecLand.h

104 lines
3.4 KiB
C++

#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AP_InertialNav/AP_InertialNav.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <stdint.h>
#include "PosVelEKF.h"
#include <AP_Buffer/AP_Buffer.h>
// declare backend classes
class AC_PrecLand_Backend;
class AC_PrecLand_Companion;
class AC_PrecLand_IRLock;
class AC_PrecLand
{
// declare backends as friends
friend class AC_PrecLand_Backend;
friend class AC_PrecLand_Companion;
friend class AC_PrecLand_IRLock;
public:
// precision landing behaviours (held in PRECLAND_ENABLED parameter)
enum PrecLandBehaviour {
PRECLAND_BEHAVIOUR_DISABLED,
PRECLAND_BEHAVIOR_ALWAYSLAND,
PRECLAND_BEHAVIOR_CAUTIOUS
};
// types of precision landing (used for PRECLAND_TYPE parameter)
enum PrecLandType {
PRECLAND_TYPE_NONE = 0,
PRECLAND_TYPE_COMPANION,
PRECLAND_TYPE_IRLOCK
};
// constructor
AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav);
// perform any required initialisation of landing controllers
void init();
// returns true if precision landing is healthy
bool healthy() const { return _backend_state.healthy; }
// returns time of last update
uint32_t last_update_ms() const { return _last_update_ms; }
// give chance to driver to get updates from sensor
void update(float rangefinder_alt_cm, bool rangefinder_alt_valid);
// returns target position relative to origin
bool get_target_position_cm(Vector2f& ret) const;
// returns target position relative to vehicle
bool get_target_position_relative_cm(Vector2f& ret) const;
// returns target velocity relative to vehicle
bool get_target_velocity_relative_cms(Vector2f& ret) const;
// returns true when the landing target has been detected
bool target_acquired() const;
// process a LANDING_TARGET mavlink message
void handle_msg(mavlink_message_t* msg);
// accessors for logging
bool enabled() const { return _enabled; }
// parameter var table
static const struct AP_Param::GroupInfo var_info[];
private:
// returns enabled parameter as an behaviour
enum PrecLandBehaviour get_behaviour() const { return (enum PrecLandBehaviour)(_enabled.get()); }
// references to inertial nav and ahrs libraries
const AP_AHRS& _ahrs;
const AP_InertialNav& _inav;
// parameters
AP_Int8 _enabled; // enabled/disabled and behaviour
AP_Int8 _type; // precision landing controller type
AP_Float _yaw_align; // Yaw angle from body x-axis to sensor x-axis.
AP_Float _land_ofs_cm_x; // Desired landing position of the camera forward of the target in vehicle body frame
AP_Float _land_ofs_cm_y; // Desired landing position of the camera right of the target in vehicle body frame
uint32_t _last_update_ms; // epoch time in millisecond when update is called
uint32_t _last_backend_los_meas_ms;
PosVelEKF _ekf_x, _ekf_y;
uint32_t _outlier_reject_count;
AP_Buffer<Matrix3f,8> _attitude_history;
// backend state
struct precland_state {
bool healthy;
} _backend_state;
AC_PrecLand_Backend *_backend; // pointers to backend precision landing driver
};