ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.h

57 lines
1.6 KiB
C++

/*
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/>.
*/
#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
class AP_RangeFinder_PX4_PWM : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_PX4_PWM(RangeFinder::RangeFinder_State &_state, AP_Int16 &powersave_range, float &_estimated_terrain_height);
// destructor
~AP_RangeFinder_PX4_PWM(void);
// static detection function
static bool detect();
// update state
void update(void) override;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_UNKNOWN;
}
private:
int _fd;
uint64_t _last_timestamp;
uint32_t _disable_time_ms;
uint32_t _good_sample_count;
float _last_sample_distance_cm;
AP_Int16 &_powersave_range;
float &estimated_terrain_height;
// return true if we are beyond the power saving range
bool out_of_range(void) const {
return _powersave_range > 0 && estimated_terrain_height > _powersave_range;
}
};