ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_uLanding(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager);
// static detection function
static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager);
// update state
void update(void);
private:
// get a reading
bool get_reading(uint16_t &reading_cm);
AP_HAL::UARTDriver *uart = nullptr;
uint32_t last_reading_ms = 0;
uint8_t linebuf[10];
uint8_t linebuf_len = 0;
};