ardupilot/libraries/AP_Proximity/AP_Proximity_MAV.h

42 lines
1.3 KiB
C++

#pragma once
#include "AP_Proximity.h"
#include "AP_Proximity_Backend.h"
#define PROXIMITY_MAV_TIMEOUT_MS 200 // requests timeout after 0.2 seconds
class AP_Proximity_MAV : public AP_Proximity_Backend
{
public:
// constructor
AP_Proximity_MAV(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
// update state
void update(void);
// get maximum and minimum distances (in meters) of sensor
float distance_max() const { return _distance_max; }
float distance_min() const { return _distance_min; };
// get distance upwards in meters. returns true on success
bool get_upward_distance(float &distance) const;
// handle mavlink DISTANCE_SENSOR messages
void handle_msg(mavlink_message_t *msg) override;
private:
// initialise sensor (returns true if sensor is succesfully initialised)
bool initialise();
// horizontal distance support
uint32_t _last_update_ms; // system time of last DISTANCE_SENSOR message received
float _distance_max; // max range of sensor in meters
float _distance_min; // min range of sensor in meters
// upward distance support
uint32_t _last_upward_update_ms; // system time of last update distance
float _distance_upward; // upward distance in meters
};