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48 lines
1.8 KiB
48 lines
1.8 KiB
#pragma once |
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#include <AP_Math/AP_Math.h> |
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#include "AC_PrecLand_Backend.h" |
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/* |
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* AC_PrecLand_Companion - implements precision landing using target vectors provided |
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* by a companion computer (i.e. Odroid) communicating via MAVLink |
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* The companion computer must provide "Line-Of-Sight" measurements |
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* in the form of LANDING_TARGET mavlink messages. |
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*/ |
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class AC_PrecLand_Companion : public AC_PrecLand_Backend |
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{ |
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public: |
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// Constructor |
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using AC_PrecLand_Backend::AC_PrecLand_Backend; |
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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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// provides a unit vector towards the target in body frame |
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// returns same as have_los_meas() |
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bool get_los_body(Vector3f& ret) override; |
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// returns system time in milliseconds of last los measurement |
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uint32_t los_meas_time_ms() override; |
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// return true if there is a valid los measurement available |
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bool have_los_meas() override; |
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// returns distance to target in meters (0 means distance is not known) |
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float distance_to_target() override; |
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// parses a mavlink message from the companion computer |
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void handle_msg(mavlink_message_t* msg) override; |
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private: |
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uint64_t _timestamp_us; // timestamp from message |
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float _distance_to_target; // distance from the camera to target in meters |
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Vector3f _los_meas_body; // unit vector in body frame pointing towards target |
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bool _have_los_meas; // true if there is a valid measurement from the camera |
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uint32_t _los_meas_time_ms; // system time in milliseconds when los was measured |
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};
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