aiming::AimPolicy Class Reference

Public Member Functions
	AimPolicy (const AimMap &map, const PolicyConfig &config=PolicyConfig{})
void	set_map (const AimMap &map)
const AimMap &	map () const
	the active map
AimCommand	update (const TrackView &track, uint32_t now_ms)
void	reset ()
	forget the setpoint and the lost-target timer (mode changes)
uint32_t	home_remaining_ms (uint32_t now_ms) const
	Milliseconds until the pending return Home fires: home_delay_ms minus the time since the target was last seen, minimum 0 and wraparound-safe. 0 unless the last update() saw Idle or Tentative, a target was seen and Home has not fired yet.
bool	homed () const
	True once Home has fired, until the next lock or reset().

Member Function Documentation

home_remaining_ms()

uint32_t aiming::AimPolicy::home_remaining_ms

(

uint32_t

now_ms

)

const

Milliseconds until the pending return Home fires: home_delay_ms minus the time since the target was last seen, minimum 0 and wraparound-safe. 0 unless the last update() saw Idle or Tentative, a target was seen and Home has not fired yet.

The timer runs through Tentative (update() leaves the last-seen time alone then), although Home itself can only fire on Idle.

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The documentation for this class was generated from the following files:

• lib/aiming/include/aim_policy.h
• lib/aiming/src/aim_policy.cpp