ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_TeraRanger_S...

39 lines
906 B
C++

#pragma once
#include "AP_RangeFinder_config.h"
#if AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED
#include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend_Serial.h"
class AP_RangeFinder_TeraRanger_Serial : public AP_RangeFinder_Backend_Serial
{
public:
static AP_RangeFinder_Backend_Serial *create(
RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params) {
return new AP_RangeFinder_TeraRanger_Serial(_state, _params);
}
protected:
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_LASER;
}
private:
// get a reading
// distance returned in reading_m
bool get_reading(float &reading_m) override;
uint8_t linebuf[10];
uint8_t linebuf_len;
};
#endif // AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED