mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.8 KiB
C++
54 lines
1.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef __AP_RANGEFINDER_BACKEND_H__
|
|
#define __AP_RANGEFINDER_BACKEND_H__
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "RangeFinder.h"
|
|
|
|
class AP_RangeFinder_Backend
|
|
{
|
|
public:
|
|
// constructor. This incorporates initialisation as well.
|
|
AP_RangeFinder_Backend(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
|
|
|
|
// we declare a virtual destructor so that RangeFinder drivers can
|
|
// override with a custom destructor if need be
|
|
virtual ~AP_RangeFinder_Backend(void) {}
|
|
|
|
// update the state structure
|
|
virtual void update() = 0;
|
|
|
|
// return true if we are beyond the power saving range
|
|
bool out_of_range(void) const {
|
|
return ranger._powersave_range > 0 && ranger.estimated_terrain_height > ranger._powersave_range;
|
|
}
|
|
|
|
protected:
|
|
|
|
// update status based on distance measurement
|
|
void update_status();
|
|
|
|
// set status and update valid_count
|
|
void set_status(RangeFinder::RangeFinder_Status status);
|
|
|
|
RangeFinder &ranger;
|
|
RangeFinder::RangeFinder_State &state;
|
|
};
|
|
#endif // __AP_RANGEFINDER_BACKEND_H__
|