mirror of https://github.com/ArduPilot/ardupilot
35 lines
786 B
C
35 lines
786 B
C
|
#pragma once
|
||
|
|
|
||
|
|
#include "AP_RangeFinder.h"
|
||
|
|
#include "AP_RangeFinder_Backend_Serial.h"
|
||
|
|
|
||
|
|
class AP_RangeFinder_GYUS42v2 : public AP_RangeFinder_Backend_Serial
|
||
|
|
{
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
|
||
|
|
return MAV_DISTANCE_SENSOR_ULTRASOUND;
|
||
|
|
}
|
||
|
|
|
||
|
|
uint32_t initial_baudrate(uint8_t serial_instance) const override {
|
||
|
|
return 9600;
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
// get a reading
|
||
|
|
bool get_reading(uint16_t &reading_cm) override;
|
||
|
|
|
||
|
|
// find signature byte in buffer starting at start, moving that
|
||
|
|
// byte and following bytes to start of buffer.
|
||
|
|
bool find_signature_in_buffer(uint8_t start);
|
||
|
|
|
||
|
|
uint8_t buffer[7];
|
||
|
|
uint8_t buffer_used;
|
||
|
|
};
|