mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_RangeFinder_SITL.h"
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extern const AP_HAL::HAL& hal;
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/*
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constructor - registers instance at top RangeFinder driver
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*/
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AP_RangeFinder_SITL::AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, uint8_t instance) :
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AP_RangeFinder_Backend(_state, _params),
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sitl(AP::sitl()),
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_instance(instance)
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{}
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/*
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update distance_cm
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*/
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void AP_RangeFinder_SITL::update(void)
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{
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const float dist = sitl->get_rangefinder(_instance);
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// negative distance means nothing is connected
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if (is_negative(dist)) {
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state.status = RangeFinder::Status::NoData;
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return;
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}
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state.distance_cm = dist * 100.0f;
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state.last_reading_ms = AP_HAL::millis();
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// update range_valid state based on distance measured
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update_status();
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}
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#endif
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