mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.6 KiB
C
52 lines
1.6 KiB
C
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#pragma once
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#include "AP_Proximity_Backend.h"
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#if HAL_PROXIMITY_ENABLED && AP_SCRIPTING_ENABLED
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class AP_Proximity_Scripting : public AP_Proximity_Backend
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{
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public:
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// constructor
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using AP_Proximity_Backend::AP_Proximity_Backend;
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// update state
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void update(void) override;
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const override { return _distance_max; }
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float distance_min() const override { return _distance_min; }
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// Set max and min range of the sensor. only needs to be set once
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bool set_distance_min_max(float min, float max) override;
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// get distance upwards in meters. returns true on success
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bool get_upward_distance(float &distance) const override;
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// handle script messages
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bool handle_script_distance_msg(float dist_m, float yaw_deg, float pitch_deg, bool push_to_boundary) override;
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bool handle_script_3d_msg(const Vector3f &vec_to_obstacle, bool push_to_boundary) override;
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// update the temporary (buffer) boundary
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bool update_virtual_boundary() override;
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private:
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// temp boundary to store and sort distances
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AP_Proximity_Temp_Boundary temp_boundary;
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// horizontal distance support
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uint32_t _last_update_ms; // system time of last script message received
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// upward distance support
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uint32_t _last_upward_update_ms; // system time of last update of upward distance
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float _distance_upward; // upward distance in meters
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// min and max distance of sensor
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float _distance_min;
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float _distance_max;
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};
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#endif // HAL_PROXIMITY_ENABLED && AP_SCRIPTING_ENABLED
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