mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
#pragma once
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#include "AP_Proximity_config.h"
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#if AP_PROXIMITY_DRONECAN_ENABLED
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#include "AP_Proximity_Backend.h"
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#include <AP_DroneCAN/AP_DroneCAN.h>
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class AP_Proximity_DroneCAN : 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;
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float distance_min() const override;
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static AP_Proximity_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
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static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
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static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg);
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private:
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uint32_t _last_update_ms; // system time of last message received
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AP_DroneCAN* _ap_dronecan;
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uint8_t _node_id;
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struct ObstacleItem {
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float yaw_deg;
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float pitch_deg;
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float distance_m;
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};
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static ObjectBuffer_TS<ObstacleItem> items;
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AP_Proximity::Status _status;
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};
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#endif // AP_PROXIMITY_DRONECAN_ENABLED
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