ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h

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#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;
};