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40 lines
1.1 KiB
40 lines
1.1 KiB
#pragma once |
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#include "AP_Proximity.h" |
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#if HAL_PROXIMITY_ENABLED |
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#include "AP_Proximity_Backend.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include <SITL/SITL.h> |
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#include <AC_Fence/AC_PolyFence_loader.h> |
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#include <AP_Common/Location.h> |
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class AP_Proximity_SITL : public AP_Proximity_Backend |
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{ |
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public: |
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// constructor |
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AP_Proximity_SITL(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_Proximity_Params& _params); |
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// update state |
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void update(void) override; |
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// get maximum and minimum distances (in meters) of sensor |
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float distance_max() const override; |
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float distance_min() const override; |
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// get distance upwards in meters. returns true on success |
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bool get_upward_distance(float &distance) const override; |
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private: |
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SITL::SIM *sitl; |
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AP_Float *fence_alt_max; |
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Location current_loc; |
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// get distance in meters to fence in a particular direction in degrees (0 is forward, angles increase in the clockwise direction) |
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bool get_distance_to_fence(float angle_deg, float &distance) const; |
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}; |
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#endif // CONFIG_HAL_BOARD |
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#endif // HAL_PROXIMITY_ENABLED
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