ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h

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#pragma once
#include "AP_RangeFinder_config.h"
#if AP_RANGEFINDER_MAVLINK_ENABLED
#include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend.h"
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// Data timeout
#define AP_RANGEFINDER_MAVLINK_TIMEOUT_MS 500
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class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend
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{
public:
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// constructor
using AP_RangeFinder_Backend::AP_RangeFinder_Backend;
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// Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink,
// there is an attached MAVLink rangefinder
static bool detect() { return true; }
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// update state
void update(void) override;
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// Get update from mavlink
void handle_msg(const mavlink_message_t &msg) override;
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int16_t max_distance_cm() const override;
int16_t min_distance_cm() const override;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return sensor_type;
}
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private:
// stored data from packet:
uint16_t distance_cm;
uint16_t _max_distance_cm;
uint16_t _min_distance_cm;
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// start a reading
static bool start_reading(void);
static bool get_reading(uint16_t &reading_cm);
MAV_DISTANCE_SENSOR sensor_type = MAV_DISTANCE_SENSOR_UNKNOWN;
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};
#endif