mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
|
/*
|
||
|
|
This program is free software: you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation, either version 3 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "AP_RangeFinder_Lua.h"
|
||
|
|
#include <AP_HAL/AP_HAL.h>
|
||
|
|
|
||
|
|
#if AP_SCRIPTING_ENABLED
|
||
|
|
|
||
|
|
// constructor
|
||
|
|
AP_RangeFinder_Lua::AP_RangeFinder_Lua(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
|
||
|
|
AP_RangeFinder_Backend(_state, _params)
|
||
|
|
{
|
||
|
|
set_status(RangeFinder::Status::NoData);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// Set the distance based on a Lua Script
|
||
|
|
bool AP_RangeFinder_Lua::handle_script_msg(float dist_m)
|
||
|
|
{
|
||
|
|
state.last_reading_ms = AP_HAL::millis();
|
||
|
|
_distance_m = dist_m;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// update the state of the sensor
|
||
|
|
void AP_RangeFinder_Lua::update(void)
|
||
|
|
{
|
||
|
|
//Time out on incoming data; if we don't get new
|
||
|
|
//data in 500ms, dump it
|
||
|
|
if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
|
||
|
|
set_status(RangeFinder::Status::NoData);
|
||
|
|
state.distance_m = 0.0f;
|
||
|
|
} else {
|
||
|
|
state.distance_m = _distance_m;
|
||
|
|
update_status();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|