ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h

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#pragma once
#include "AP_RangeFinder.h"
#ifndef AP_RANGEFINDER_BENEWAKE_ENABLED
#define AP_RANGEFINDER_BENEWAKE_ENABLED AP_RANGEFINDER_ENABLED
#endif
#if AP_RANGEFINDER_BENEWAKE_ENABLED
#include "AP_RangeFinder_Backend_Serial.h"
class AP_RangeFinder_Benewake : public AP_RangeFinder_Backend_Serial
{
public:
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_LASER;
}
virtual float model_dist_max_cm() const = 0;
virtual bool has_signal_byte() const { return false; }
private:
// get a reading
// distance returned in reading_m
bool get_reading(float &reading_m) override;
uint8_t linebuf[10];
uint8_t linebuf_len;
};
#endif // AP_RANGEFINDER_BENEWAKE_ENABLED