mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.2 KiB
C++
40 lines
1.2 KiB
C++
#pragma once
|
|
|
|
#include "AP_Proximity.h"
|
|
#include "AP_Proximity_Backend.h"
|
|
|
|
class AP_Proximity_MAV : public AP_Proximity_Backend
|
|
{
|
|
|
|
public:
|
|
// constructor
|
|
using AP_Proximity_Backend::AP_Proximity_Backend;
|
|
|
|
// update state
|
|
void update(void) override;
|
|
|
|
// get maximum and minimum distances (in meters) of sensor
|
|
float distance_max() const override { return _distance_max; }
|
|
float distance_min() const override { return _distance_min; };
|
|
|
|
// get distance upwards in meters. returns true on success
|
|
bool get_upward_distance(float &distance) const override;
|
|
|
|
// handle mavlink DISTANCE_SENSOR messages
|
|
void handle_msg(const mavlink_message_t &msg) override;
|
|
|
|
private:
|
|
|
|
// initialise sensor (returns true if sensor is succesfully initialised)
|
|
bool initialise();
|
|
|
|
// horizontal distance support
|
|
uint32_t _last_update_ms; // system time of last DISTANCE_SENSOR message received
|
|
float _distance_max; // max range of sensor in meters
|
|
float _distance_min; // min range of sensor in meters
|
|
|
|
// upward distance support
|
|
uint32_t _last_upward_update_ms; // system time of last update distance
|
|
float _distance_upward; // upward distance in meters
|
|
};
|