ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h

#pragma once

#include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend_Serial.h"

class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend_Serial
{

public:

    AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);

protected:

    MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
        return MAV_DISTANCE_SENSOR_ULTRASOUND;
    }

private:
    // get a reading
    bool get_reading(float &reading_m) override;

    uint16_t read_timeout_ms() const override { return 500; }

    char linebuf[10];
    uint8_t linebuf_len = 0;
};