ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h

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#pragma once
#include "AP_RangeFinder_config.h"
#if AP_RANGEFINDER_HC_SR04_ENABLED
#include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend.h"
#include "AP_RangeFinder_Params.h"
class AP_RangeFinder_HC_SR04 : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_HC_SR04(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
// static detection function
static bool detect(AP_RangeFinder_Params &_params);
// update state
void update(void) override;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_ULTRASOUND;
}
private:
bool check_pins();
bool check_echo_pin();
void check_trigger_pin();
int8_t trigger_pin;
uint32_t last_reading_ms; // system time of last read (used for health reporting)
float last_distance_m; // last distance reported (used to prevent glitches in measurement)
uint8_t glitch_count; // glitch counter
AP_HAL::PWMSource pwm_source;
uint32_t last_ping_ms;
};
#endif // AP_RANGEFINDER_HC_SR04_ENABLED