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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AC_PrecLand/AC_PrecLand_IRLock.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_IRLOCK_ENABLED

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#include <AC_PrecLand/AC_PrecLand_Backend.h>

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#include <AP_Math/AP_Math.h>

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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL

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 #include <AP_IRLock/AP_IRLock_SITL.h>

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#else

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 #include <AP_IRLock/AP_IRLock.h>

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#endif

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/*

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 * AC_PrecLand_IRLock - implements precision landing using target vectors provided

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 *                         by an IRLock

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 */

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class AC_PrecLand_IRLock : public AC_PrecLand_Backend

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{

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public:

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    // Constructor

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

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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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private:

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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL

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    AP_IRLock_SITL irlock;

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#else

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    AP_IRLock_I2C irlock;

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#endif

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};

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#endif // AC_PRECLAND_IRLOCK_ENABLED

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