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48 lines
1.4 KiB
48 lines
1.4 KiB
#include <AP_HAL/AP_HAL.h> |
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#include "AC_PrecLand_SITL.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "AP_AHRS/AP_AHRS.h" |
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// init - perform initialisation of this backend |
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void AC_PrecLand_SITL::init() |
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{ |
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_sitl = AP::sitl(); |
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} |
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// update - give chance to driver to get updates from sensor |
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void AC_PrecLand_SITL::update() |
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{ |
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_state.healthy = _sitl->precland_sim.healthy(); |
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if (_state.healthy && _sitl->precland_sim.last_update_ms() != _los_meas_time_ms) { |
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const Vector3f position = _sitl->precland_sim.get_target_position(); |
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const Matrix3f &body_to_ned = AP::ahrs().get_rotation_body_to_ned(); |
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_los_meas_body = body_to_ned.mul_transpose(-position); |
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_los_meas_body /= _los_meas_body.length(); |
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_have_los_meas = true; |
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_los_meas_time_ms = _sitl->precland_sim.last_update_ms(); |
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} else { |
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_have_los_meas = false; |
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} |
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_have_los_meas = _have_los_meas && AP_HAL::millis() - _los_meas_time_ms <= 1000; |
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} |
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bool AC_PrecLand_SITL::have_los_meas() { |
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return AP_HAL::millis() - _los_meas_time_ms < 1000; |
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} |
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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 AC_PrecLand_SITL::get_los_body(Vector3f& ret) { |
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if (AP_HAL::millis() - _los_meas_time_ms > 1000) { |
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// no measurement for a full second; no vector available |
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return false; |
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} |
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ret = _los_meas_body; |
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return true; |
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} |
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#endif
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