ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h

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#pragma once
#include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend_Serial.h"
class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend_Serial
{
public:
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_RADAR;
}
// baudrate used during object construction:
uint32_t initial_baudrate(uint8_t serial_instance) const override {
return 115200;
}
uint16_t rx_bufsize() const override { return 128; }
uint16_t tx_bufsize() const override { return 128; }
private:
// detect uLanding Firmware Version
bool detect_version(void);
// get a reading
bool get_reading(uint16_t &reading_cm) override;
uint8_t _linebuf[6];
uint8_t _linebuf_len;
bool _version_known;
uint8_t _header;
uint8_t _version;
};