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46 lines
1.6 KiB
46 lines
1.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Math/AP_Math.h> |
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#include <AC_PrecLand/AC_PrecLand_Backend.h> |
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#include <AP_IRLock/AP_IRLock.h> |
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// this only builds for PX4 so far |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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/* |
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* AC_PrecLand_IRLock - 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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*/ |
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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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// init - perform any required initialisation of backend controller |
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void init(); |
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// update - give chance to driver to get updates from sensor |
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// returns true if new data available |
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bool update(); |
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// IRLock is hard-mounted to the frame of the vehicle, so it will always be in body-frame |
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MAV_FRAME get_frame_of_reference() { return MAV_FRAME_BODY_NED; } |
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// get_angle_to_target - returns body frame angles (in radians) to target |
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// returns true if angles are available, false if not (i.e. no target) |
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// x_angle_rad : body-frame roll direction, positive = target is to right (looking down) |
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// y_angle_rad : body-frame pitch direction, postiive = target is forward (looking down) |
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bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad); |
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// handle_msg - parses a mavlink message from the companion computer |
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void handle_msg(mavlink_message_t* msg) { /* do nothing */ } |
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private: |
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AP_IRLock_PX4 irlock; |
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}; |
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#endif
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