Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include "AP_Beacon.h"
      18             : 
      19             : #if AP_BEACON_ENABLED
      20             : 
      21             : #include <AP_Common/AP_Common.h>
      22             : #include <AP_Math/AP_Math.h>
      23             : #include <AP_HAL/AP_HAL.h>
      24             : 
      25             : class AP_Beacon_Backend
      26             : {
      27             : public:
      28             :     // constructor. This incorporates initialisation as well.
      29             :     AP_Beacon_Backend(AP_Beacon &frontend);
      30             : 
      31             :     // return true if sensor is basically healthy (we are receiving data)
      32             :     virtual bool healthy() = 0;
      33             : 
      34             :     // update
      35             :     virtual void update() = 0;
      36             : 
      37             :     // set vehicle position
      38             :     // pos should be in meters in NED frame from the beacon's local origin
      39             :     // accuracy_estimate is also in meters
      40             :     void set_vehicle_position(const Vector3f& pos, float accuracy_estimate);
      41             : 
      42             :     // set individual beacon distance from vehicle in meters in NED frame
      43             :     void set_beacon_distance(uint8_t beacon_instance, float distance);
      44             : 
      45             :     // set beacon's position
      46             :     // pos should be in meters in NED from the beacon's local origin
      47             :     void set_beacon_position(uint8_t beacon_instance, const Vector3f& pos);
      48             : 
      49       30597 :     float get_beacon_origin_lat(void) const { return _frontend.origin_lat; }
      50       30597 :     float get_beacon_origin_lon(void) const { return _frontend.origin_lon; }
      51       30597 :     float get_beacon_origin_alt(void) const { return _frontend.origin_alt; }
      52             : 
      53             : protected:
      54             : 
      55             :     // references
      56             :     AP_Beacon &_frontend;
      57             : 
      58             :     // yaw correction
      59             :     int16_t orient_yaw_deg; // cached version of orient_yaw parameter
      60             :     float orient_cos_yaw = 0.0f;
      61             :     float orient_sin_yaw = 1.0f;
      62             : 
      63             :     // yaw correction methods
      64             :     Vector3f correct_for_orient_yaw(const Vector3f &vector);
      65             : 
      66             :     AP_HAL::UARTDriver *uart;
      67             : };
      68             : 
      69             : #endif  // AP_BEACON_ENABLED