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50 lines
1.5 KiB
50 lines
1.5 KiB
#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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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include <AP_IRLock/AP_IRLock_SITL.h> |
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#endif |
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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 || CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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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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// perform any required initialisation of backend |
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void init(); |
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// retrieve updates from sensor |
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void update(); |
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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); |
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// returns system time in milliseconds of last los measurement |
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uint32_t los_meas_time_ms(); |
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// return true if there is a valid los measurement available |
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bool have_los_meas(); |
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private: |
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AP_IRLock_I2C irlock; |
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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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#endif
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