ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h

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2020-07-17 20:36:47 -03:00
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_RangeFinder_Backend.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
class AP_RangeFinder_SITL : public AP_RangeFinder_Backend {
public:
// constructor. This incorporates initialisation as well.
AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, uint8_t instance);
// update the state structure
void update() override;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_UNKNOWN;
}
private:
SITL::SITL *sitl;
uint8_t _instance;
};
#endif