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AP_RangeFinder: added get_address() 

allows AP_Periph to supply sensor_id for multiple CAN rangefinders
This commit is contained in:
Andrew Tridgell 2020-05-11 14:27:55 +10:00
parent 5100c9fb8c
commit 603e5c4b55
1 changed files with 5 additions and 0 deletions
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libraries/AP_RangeFinder/AP_RangeFinder.h
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@ -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;