ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h

#pragma once

#include "RangeFinder.h"
#include "RangeFinder_Backend.h"

// Data timeout
#define AP_RANGEFINDER_MAVLINK_TIMEOUT_MS 500

class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend
{

public:
    // constructor
    AP_RangeFinder_MAVLink(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);

    // static detection function
    static bool detect(RangeFinder &ranger, uint8_t instance);

    // update state
    void update(void);

    // Get update from mavlink
    void handle_msg(mavlink_message_t *msg);

private:
    uint16_t distance_cm;
    uint32_t last_update_ms;

    // start a reading
    static bool start_reading(void);
    static bool get_reading(uint16_t &reading_cm);
};