ardupilot/libraries/AP_RangeFinder/RangeFinder.h

#ifndef RangeFinder_h
#define RangeFinder_h

#include <AP_Common.h>
#include <AP_AnalogSource.h>
#include <Filter.h> // Filter library

/*
 * #define AP_RANGEFINDER_ORIENTATION_FRONT		  0, 10,  0
 * #define AP_RANGEFINDER_ORIENTATION_RIGHT		-10,  0,  0
 * #define AP_RANGEFINDER_ORIENTATION_BACK			  0,-10,  0
 * #define AP_RANGEFINDER_ORIENTATION_LEFT			 10,  0,  0
 * #define AP_RANGEFINDER_ORIENTATION_UP			  0,  0,-10
 * #define AP_RANGEFINDER_ORIENTATION_DOWN			  0,  0, 10
 * #define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT    -5, -5,  0
 * #define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT     -5, -5,  0
 * #define AP_RANGEFINDER_ORIENTATION_BACK_LEFT       5, -5,  0
 * #define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT      5,  5,  0
 */

class RangeFinder
{
protected:
    RangeFinder(AP_AnalogSource * source, FilterInt16 *filter) :
        _analog_source(source),
        _mode_filter(filter) {
    }
public:

    int                     raw_value; // raw value from the sensor
    int                     distance; // distance in cm
    int                     max_distance; // maximum measurable distance (in cm) - should be set in child's constructor
    int                     min_distance; // minimum measurable distance (in cm) - should be set in child's constructor
    int                     orientation_x, orientation_y, orientation_z;

    virtual void            set_orientation(int x, int y, int z);
    virtual int             convert_raw_to_distance(int _raw_value) {
        return _raw_value;
    }                                                                               // function that each child class should override to convert voltage to distance
    virtual int             read(); // read value from sensor and return distance in cm

    AP_AnalogSource *       _analog_source;
    FilterInt16 *           _mode_filter;
};
#endif