mirror of https://github.com/ArduPilot/ardupilot
28 lines
711 B
C
28 lines
711 B
C
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#pragma once
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#include "AP_RangeFinder_Backend.h"
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#include <AP_CANManager/AP_CANSensor.h>
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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class AP_RangeFinder_USD1_CAN : public CANSensor, public AP_RangeFinder_Backend {
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public:
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AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
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void update() override;
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// handler for incoming frames
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void handle_frame(AP_HAL::CANFrame &frame) override;
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protected:
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_RADAR;
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}
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private:
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bool new_data;
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uint16_t _distance_cm;
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uint32_t _last_reading_ms;
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};
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#endif //HAL_MAX_CAN_PROTOCOL_DRIVERS
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