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72 lines
2.5 KiB
72 lines
2.5 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* IRLock.h - IRLock Base Class for Ardupilot |
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* |
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* Created on: Nov 10, 2014 |
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* Author: MLandes |
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*/ |
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#pragma once |
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#include <AP_AHRS/AP_AHRS.h> |
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class IRLock |
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{ |
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public: |
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// init - initialize sensor library |
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// library won't be useable unless this is first called |
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virtual void init(int8_t bus) = 0; |
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// true if irlock sensor is online and healthy |
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bool healthy() const { return _flags.healthy; } |
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// timestamp of most recent data read from the sensor |
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uint32_t last_update_ms() const { return _last_update_ms; } |
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// returns the number of blocks in the current frame |
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size_t num_targets() const { return _flags.healthy?1:0; } |
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// retrieve latest sensor data - returns true if new data is available |
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virtual bool update() = 0; |
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// retrieve body frame x and y angles (in radians) to target |
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// returns true if data is available |
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bool get_angle_to_target_rad(float &x_angle_rad, float &y_angle_rad) const; |
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// retrieve body frame unit vector in direction of target |
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// returns true if data is available |
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bool get_unit_vector_body(Vector3f& ret) const; |
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protected: |
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struct AP_IRLock_Flags { |
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uint8_t healthy : 1; // true if sensor is healthy |
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} _flags; |
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// internals |
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uint32_t _last_update_ms; |
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// irlock_target_info is a duplicate of the PX4Firmware irlock_s structure |
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typedef struct { |
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uint32_t timestamp; // milliseconds since system start |
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float pos_x; // x-axis distance from center of image to center of target in units of tan(theta) |
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float pos_y; // y-axis distance from center of image to center of target in units of tan(theta) |
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float size_x; // size of target along x-axis in units of tan(theta) |
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float size_y; // size of target along y-axis in units of tan(theta) |
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} irlock_target_info; |
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irlock_target_info _target_info; |
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};
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