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>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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:
bool new_data;
uint16_t _distance_cm;
uint32_t _last_reading_ms;
};
#endif //HAL_MAX_CAN_PROTOCOL_DRIVERS