ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h

#ifndef AP_RangeFinder_SharpGP2Y_H
#define AP_RangeFinder_SharpGP2Y_H

#include "RangeFinder.h"

#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150

class AP_RangeFinder_SharpGP2Y : public RangeFinder
{	
  public:
    AP_RangeFinder_SharpGP2Y();
	int convert_raw_to_distance(int raw_value) { if( raw_value == 0 ) return max_distance; else return 14500/raw_value; }   // read value from analog port and return distance in cm
		 
};
#endif