mirror of https://github.com/ArduPilot/ardupilot
43 lines
886 B
C++
43 lines
886 B
C++
#pragma once
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#include "AC_PrecLand_config.h"
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#if AC_PRECLAND_IRLOCK_ENABLED
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#include <AC_PrecLand/AC_PrecLand_Backend.h>
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#include <AP_Math/AP_Math.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_IRLock/AP_IRLock_SITL.h>
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#else
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#include <AP_IRLock/AP_IRLock.h>
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#endif
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/*
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* AC_PrecLand_IRLock - implements precision landing using target vectors provided
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* by an IRLock
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*/
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class AC_PrecLand_IRLock : public AC_PrecLand_Backend
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{
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public:
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// Constructor
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AC_PrecLand_IRLock(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state);
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// perform any required initialisation of backend
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void init() override;
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// retrieve updates from sensor
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void update() override;
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private:
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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AP_IRLock_SITL irlock;
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#else
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AP_IRLock_I2C irlock;
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#endif
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};
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#endif // AC_PRECLAND_IRLOCK_ENABLED
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