mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
#pragma once
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#include "AP_Proximity_config.h"
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#if AP_PROXIMITY_RANGEFINDER_ENABLED
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#include "AP_Proximity_Backend.h"
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#define PROXIMITY_RANGEFIDER_TIMEOUT_MS 200 // requests timeout after 0.2 seconds
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class AP_Proximity_RangeFinder : public AP_Proximity_Backend
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{
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public:
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// constructor
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using AP_Proximity_Backend::AP_Proximity_Backend;
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// update state
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void update(void) override;
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const override { return _distance_max; }
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float distance_min() const override { return _distance_min; }
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// get distance upwards in meters. returns true on success
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bool get_upward_distance(float &distance) const override;
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private:
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// horizontal distance support
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uint32_t _last_update_ms; // system time of last RangeFinder reading
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float _distance_max; // max range of sensor in meters
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float _distance_min; // min range of sensor in meters
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// upward distance support
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uint32_t _last_upward_update_ms; // system time of last update distance
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float _distance_upward = -1; // upward distance in meters, negative if the last reading was out of range
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};
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#endif // AP_PROXIMITY_RANGEFINDER_ENABLED
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