ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
class AP_RangeFinder_PX4_PWM : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_PX4_PWM(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
// destructor
~AP_RangeFinder_PX4_PWM(void);
// static detection function
static bool detect(RangeFinder &ranger, uint8_t instance);
// update state
void update(void);
private:
int _fd;
uint64_t _last_timestamp;
uint64_t _last_pulse_time_ms;
uint32_t _disable_time_ms;
uint32_t _good_sample_count;
float _last_sample_distance_cm;
};