ardupilot/libraries/AC_PrecLand/AC_PrecLand_IRLock.h

44 lines
1.4 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AC_PRECLAND_IRLOCK_H__
#define __AC_PRECLAND_IRLOCK_H__
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AC_PrecLand/AC_PrecLand_Backend.h>
#include <AP_IRLock/AP_IRLock.h>
// this only builds for PX4 so far
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/*
* AC_PrecLand_IRLock - implements precision landing using target vectors provided
* by a companion computer (i.e. Odroid) communicating via MAVLink
*/
class AC_PrecLand_IRLock : public AC_PrecLand_Backend
{
public:
// Constructor
AC_PrecLand_IRLock(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state);
// init - perform any required initialisation of backend controller
void init();
// update - give chance to driver to get updates from sensor
// returns true if new data available
bool update();
// get_angle_to_target - returns body frame angles (in radians) to target
// returns true if angles are available, false if not (i.e. no target)
// x_angle_rad : body-frame roll direction, positive = target is to right (looking down)
// y_angle_rad : body-frame pitch direction, postiive = target is forward (looking down)
bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const;
private:
AP_IRLock_PX4 irlock;
};
#endif
#endif // __AC_PRECLAND_IRLOCK_H__