AP_RangeFinder: added get_address()

allows AP_Periph to supply sensor_id for multiple CAN rangefinders
2020-05-11 14:27:55 +10:00 · 2020-05-11 14:27:55 +10:00 · 603e5c4b55
parent 5100c9fb8c
commit 603e5c4b55
1 changed files with 5 additions and 0 deletions
--- a/libraries/AP_RangeFinder/AP_RangeFinder.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.h
@ -144,6 +144,11 @@ public:
        return id >= RANGEFINDER_MAX_INSTANCES? Type::NONE : Type(params[id].type.get());
    }

+    // get rangefinder address (for AP_Periph CAN)
+    uint8_t get_address(uint8_t id) const {
+        return id >= RANGEFINDER_MAX_INSTANCES? 0 : uint8_t(params[id].address.get());
+    }
+    
    // methods to return a distance on a particular orientation from
    // any sensor which can current supply it
    uint16_t distance_cm_orient(enum Rotation orientation) const;