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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AC_PrecLand/AC_PrecLand_IRLock.cpp
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#include "AC_PrecLand_config.h"

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#if AC_PRECLAND_IRLOCK_ENABLED

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#include "AC_PrecLand_IRLock.h"

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#include <AP_HAL/AP_HAL.h>

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// Constructor

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AC_PrecLand_IRLock::AC_PrecLand_IRLock(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state)

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    : AC_PrecLand_Backend(frontend, state),

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      irlock()

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{

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}

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// init - perform initialisation of this backend

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void AC_PrecLand_IRLock::init()

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{

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    irlock.init(get_bus());

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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_IRLock::update()

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{

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    // update health

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    _state.healthy = irlock.healthy();

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    // get new sensor data

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    irlock.update();

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    if (irlock.num_targets() > 0 && irlock.last_update_ms() != _los_meas.time_ms) {

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        irlock.get_unit_vector_body(_los_meas.vec_unit);

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        _los_meas.frame = AC_PrecLand::VectorFrame::BODY_FRD;

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        _los_meas.valid = true;

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        _los_meas.time_ms = irlock.last_update_ms();

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    }

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    _los_meas.valid = _los_meas.valid && AP_HAL::millis() - _los_meas.time_ms <= 1000;

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}

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#endif // AC_PRECLAND_IRLOCK_ENABLED

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