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48 lines
1.9 KiB
48 lines
1.9 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AC_PRECLAND_COMPANION_H__ |
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#define __AC_PRECLAND_COMPANION_H__ |
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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_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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*/ |
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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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AC_PrecLand_Companion(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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// what frame of reference is our sensor reporting in? |
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MAV_FRAME get_frame_of_reference(); |
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// get_angle_to_target - returns 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 : roll direction, positive = target is to right (looking down) |
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// y_angle_rad : 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); |
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private: |
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// output from camera |
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MAV_FRAME _frame; // what frame of reference is our sensor reporting in? |
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Vector2f _angle_to_target; // last angle to target |
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float _distance_to_target; // distance from the camera to target in meters |
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uint64_t _timestamp_us; // timestamp when the image was captured(synced via UAVCAN) |
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bool _new_estimate; // true if new data from the camera has been received |
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}; |
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#endif // __AC_PRECLAND_COMPANION_H__
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