mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.2 KiB
C++
56 lines
1.2 KiB
C++
#pragma once
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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_MAVLINK_ENABLED
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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// Data timeout
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#define AP_RANGEFINDER_MAVLINK_TIMEOUT_MS 500
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class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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using AP_RangeFinder_Backend::AP_RangeFinder_Backend;
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// Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink,
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// there is an attached MAVLink rangefinder
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static bool detect() { return true; }
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// update state
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void update(void) override;
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// Get update from mavlink
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void handle_msg(const mavlink_message_t &msg) override;
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int16_t max_distance_cm() const override;
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int16_t min_distance_cm() const override;
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protected:
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return sensor_type;
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}
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private:
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// stored data from packet:
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uint16_t distance_cm;
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uint16_t _max_distance_cm;
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uint16_t _min_distance_cm;
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int8_t signal_quality;
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// start a reading
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static bool start_reading(void);
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static bool get_reading(uint16_t &reading_cm);
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MAV_DISTANCE_SENSOR sensor_type = MAV_DISTANCE_SENSOR_UNKNOWN;
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};
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#endif
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