mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.5 KiB
C
59 lines
1.5 KiB
C
|
/*
|
||
|
|
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/>.
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
Base class for serial rangefinders
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "SIM_Aircraft.h"
|
||
|
|
|
||
|
|
#include <SITL/SITL.h>
|
||
|
|
|
||
|
|
#include "SIM_SerialDevice.h"
|
||
|
|
|
||
|
|
namespace SITL {
|
||
|
|
|
||
|
|
class SerialProximitySensor : public SerialDevice {
|
||
|
|
public:
|
||
|
|
|
||
|
|
SerialProximitySensor() {};
|
||
|
|
|
||
|
|
// update state
|
||
|
|
virtual void update(const Location &location);
|
||
|
|
|
||
|
|
virtual uint16_t reading_interval_ms() const { return 200; } // 5Hz default
|
||
|
|
|
||
|
|
virtual uint32_t packet_for_location(const Location &location,
|
||
|
|
uint8_t *data,
|
||
|
|
uint8_t buflen) = 0;
|
||
|
|
|
||
|
|
// return distance to nearest object at angle
|
||
|
|
float measure_distance_at_angle(const Location &location, float angle) const;
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
uint32_t last_sent_ms;
|
||
|
|
|
||
|
|
const Location post_origin {
|
||
|
|
518752066,
|
||
|
|
146487830,
|
||
|
|
0,
|
||
|
|
Location::AltFrame::ABSOLUTE
|
||
|
|
};
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|