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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AC_PrecLand/AC_PrecLand_Companion.h
Views: 1798
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#pragma once

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#include "AC_PrecLand_config.h"

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#if AC_PRECLAND_COMPANION_ENABLED

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#include "AC_PrecLand_Backend.h"

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#include <AP_Math/AP_Math.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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 *                         The companion computer must provide "Line-Of-Sight" measurements

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 *                         in the form of LANDING_TARGET mavlink messages.

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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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    using AC_PrecLand_Backend::AC_PrecLand_Backend;

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    // perform any required initialisation of backend

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    void init() override;

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    // retrieve updates from sensor

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    void update() override;

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    // parses a mavlink message from the companion computer

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    void handle_msg(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;

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private:

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    bool                _wrong_frame_msg_sent;

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};

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#endif // AC_PRECLAND_COMPANION_ENABLED

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