ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h

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#pragma once
#include "AP_RangeFinder_Backend.h"
#include <AP_CANManager/AP_CANSensor.h>
#ifndef AP_RANGEFINDER_USD1_CAN_ENABLED
#define AP_RANGEFINDER_USD1_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif
#if AP_RANGEFINDER_USD1_CAN_ENABLED
class AP_RangeFinder_USD1_CAN : public CANSensor, public AP_RangeFinder_Backend {
public:
AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
void update() override;
// handler for incoming frames
void handle_frame(AP_HAL::CANFrame &frame) override;
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_RADAR;
}
private:
float _distance_sum;
uint32_t _distance_count;
};
#endif // AP_RANGEFINDER_USD1_CAN_ENABLED