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add position for precland object add refresh rate add alt and lateral range add diffusion rangemaster
Pierre Kancir
7 years ago
committed by
Peter Barker
6 changed files with 257 additions and 1 deletions
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/*
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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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#include "SIM_Precland.h" |
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#include "AP_HAL/AP_HAL.h" |
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#include "AP_Math/AP_Math.h" |
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#include "AP_Common/Location.h" |
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#include <stdio.h> |
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using namespace SITL; |
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// table of user settable parameters
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const AP_Param::GroupInfo SIM_Precland::var_info[] = { |
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// @Param: ENABLE
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// @DisplayName: Preland device Sim enable/disable
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// @Description: Allows you to enable (1) or disable (0) the Preland simulation
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("ENABLE", 0, SIM_Precland, _enable, 0), |
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// @Param: LAT
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// @DisplayName: Precland device origin's latitude
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// @Description: Precland device origin's latitude
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// @Units: deg
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// @Increment: 0.000001
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// @Range: -90 90
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// @User: Advanced
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AP_GROUPINFO("LAT", 1, SIM_Precland, _origin_lat, 0), |
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// @Param: LON
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// @DisplayName: Precland device origin's longitude
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// @Description: Precland device origin's longitude
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// @Units: deg
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// @Increment: 0.000001
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// @Range: -180 180
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// @User: Advanced
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AP_GROUPINFO("LON", 2, SIM_Precland, _origin_lon, 0), |
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// @Param: HEIGHT
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// @DisplayName: Precland device origin's height above sealevel
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// @Description: Precland device origin's height above sealevel
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// @Units: cm
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// @Increment: 1
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// @Range: 0 10000
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// @User: Advanced
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AP_GROUPINFO("HEIGHT", 3, SIM_Precland, _origin_height, 0), |
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// @Param: YAW
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// @DisplayName: Precland device systems rotation from north
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// @Description: Precland device systems rotation from north
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// @Units: deg
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// @Increment: 1
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// @Range: -180 +180
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// @User: Advanced
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AP_GROUPINFO("YAW", 4, SIM_Precland, _orient_yaw, 0), |
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// @Param: RATE
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// @DisplayName: Precland device update rate
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// @Description: Precland device rate. e.g led patter refresh rate, RF message rate, etc.
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// @Units: Hz
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// @Range: 0 200
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// @User: Advanced
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AP_GROUPINFO("RATE", 5, SIM_Precland, _rate, 100), |
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// @Param: TYPE
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// @DisplayName: Precland device radiance type
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// @Description: Precland device radiance type: it can be a cylinder, a cone, or a sphere.
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// @Values: 0:cylinder,1:cone,2:sphere
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// @User: Advanced
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AP_GROUPINFO("TYPE", 6, SIM_Precland, _type, SIM_Precland::PRECLAND_TYPE_CYLINDER), |
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// @Param: ALT_LIMIT
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// @DisplayName: Precland device alt range
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// @Description: Precland device maximum range altitude
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// @Units: m
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// @Range: 0 100
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// @User: Advanced
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AP_GROUPINFO("ALT_LMT", 7, SIM_Precland, _alt_limit, 15), |
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// @Param: DIST_LIMIT
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// @DisplayName: Precland device lateral range
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// @Description: Precland device maximum lateral range
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// @Units: m
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// @Range: 5 100
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// @User: Advanced
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AP_GROUPINFO("DIST_LMT", 8, SIM_Precland, _dist_limit, 10), |
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AP_GROUPEND |
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}; |
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void SIM_Precland::update(const Location &loc, const Vector3f &position) |
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{ |
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const uint32_t now = AP_HAL::millis(); |
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if (!_enable) { |
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_healthy = false; |
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return; |
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} |
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if (is_zero(_alt_limit) || _dist_limit < 1.0f) { |
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_healthy = false; |
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return; |
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} |
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if (now - _last_update_ms < 1000.0f * (1.0f / _rate)) { |
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return; |
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} |
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_last_update_ms = now; |
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const float distance_z = -position.z; |
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const float origin_height_m = _origin_height * 0.01f; |
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if (distance_z > _alt_limit + origin_height_m) { |
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_healthy = false; |
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return; |
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} |
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const Location origin_center(static_cast<int32_t>(_origin_lat * 1.0e7f), |
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static_cast<int32_t>(_origin_lon * 1.0e7f), |
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static_cast<int32_t>(_origin_height), |
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Location::ALT_FRAME_ABOVE_HOME); |
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Vector2f center; |
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origin_center.get_vector_xy_from_origin_NE(center); |
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center = center * 0.01f; // cm to m
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switch (_type) { |
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case PRECLAND_TYPE_CONE: { |
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const float in_radius = distance_z * _dist_limit / (_alt_limit + origin_height_m); |
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if (norm(position.x - center.x, position.y - center.y) > in_radius) { |
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_healthy = false; |
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return; |
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} |
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break; |
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} |
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case PRECLAND_TYPE_SPHERE: { |
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if (norm(position.x - center.x, position.y - center.y, distance_z - _origin_height) > (_alt_limit + origin_height_m)) { |
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_healthy = false; |
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return; |
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} |
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break; |
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} |
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default: |
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case PRECLAND_TYPE_CYLINDER: { |
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if (norm(position.x - center.x, position.y - center.y) > _dist_limit) { |
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_healthy = false; |
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return; |
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} |
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break; |
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} |
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} |
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_target_pos = position - Vector3f(center.x, center.y, origin_height_m); |
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_healthy = true; |
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} |
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void SIM_Precland::set_default_location(float lat, float lon, int16_t yaw) { |
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if (is_zero(_origin_lat) && is_zero(_origin_lon)) { |
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_origin_lat = lat; |
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_origin_lon = lon; |
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_orient_yaw = yaw; |
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} |
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} |
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@ -0,0 +1,64 @@
@@ -0,0 +1,64 @@
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/*
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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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|
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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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#pragma once |
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#include "stdint.h" |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Math/AP_Math.h> |
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namespace SITL { |
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class SIM_Precland { |
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public: |
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SIM_Precland() { |
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AP_Param::setup_object_defaults(this, var_info); |
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}; |
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// update precland state
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void update(const Location &loc, const Vector3f &position); |
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// true if precland sensor is online and healthy
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bool healthy() const { return _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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const Vector3f &get_target_position() const { return _target_pos; } |
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bool is_enabled() const {return static_cast<bool>(_enable);} |
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void set_default_location(float lat, float lon, int16_t yaw); |
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static const struct AP_Param::GroupInfo var_info[]; |
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AP_Int8 _enable; |
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AP_Float _origin_lat; |
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AP_Float _origin_lon; |
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AP_Float _origin_height; |
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AP_Int16 _orient_yaw; |
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AP_Int8 _type; |
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AP_Int32 _rate; |
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AP_Float _alt_limit; |
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AP_Float _dist_limit; |
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enum PreclandType { |
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PRECLAND_TYPE_CYLINDER = 0, |
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PRECLAND_TYPE_CONE = 1, |
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PRECLAND_TYPE_SPHERE = 2, |
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}; |
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private: |
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uint32_t _last_update_ms; |
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bool _healthy; |
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Vector3f _target_pos; |
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}; |
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} |
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