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60 lines
2.0 KiB
60 lines
2.0 KiB
/* |
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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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#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 <AP_HAL/AP_HAL.h> |
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#include "AP_Beacon.h" |
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class AP_Beacon_Backend |
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{ |
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public: |
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// constructor. This incorporates initialisation as well. |
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AP_Beacon_Backend(AP_Beacon &frontend); |
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// return true if sensor is basically healthy (we are receiving data) |
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virtual bool healthy() = 0; |
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// update |
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virtual void update() = 0; |
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// set vehicle position, pos should be in the beacon's local frame |
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void set_vehicle_position(const Vector3f& pos, float accuracy_estimate); |
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// set individual beacon distance in meters |
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void set_beacon_distance(uint8_t beacon_instance, float distance); |
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// configure beacon's position in meters from origin |
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// pos should be in the beacon's local frame |
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void set_beacon_position(uint8_t beacon_instance, const Vector3f& pos); |
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float get_beacon_origin_lat(void) const { return _frontend.origin_lat; } |
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float get_beacon_origin_lon(void) const { return _frontend.origin_lon; } |
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float get_beacon_origin_alt(void) const { return _frontend.origin_alt; } |
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protected: |
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// references |
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AP_Beacon &_frontend; |
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// yaw correction |
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int16_t orient_yaw_deg; // cached version of orient_yaw parameter |
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float orient_cos_yaw = 0.0f; |
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float orient_sin_yaw = 1.0f; |
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// yaw correction methods |
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Vector3f correct_for_orient_yaw(const Vector3f &vector); |
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};
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