mirror of https://github.com/ArduPilot/ardupilot
42 lines
1.1 KiB
C++
42 lines
1.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_RANGEFINDER_MAXSONARI2CXL_H__
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#define __AP_RANGEFINDER_MAXSONARI2CXL_H__
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#include "RangeFinder.h"
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#define AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR 0x70
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#define AP_RANGEFINDER_MAXSONARI2CXL 4
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#define AP_RANGE_FINDER_MAXSONARI2CXL_SCALER 1.0
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#define AP_RANGE_FINDER_MAXSONARI2CXL_MIN_DISTANCE 20
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#define AP_RANGE_FINDER_MAXSONARI2CXL_MAX_DISTANCE 765
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#define AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING 0x51
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class AP_RangeFinder_MaxsonarI2CXL : public RangeFinder
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{
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public:
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// constructor
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AP_RangeFinder_MaxsonarI2CXL(FilterInt16 *filter);
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// init - simply sets the i2c address
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void init(uint8_t address = AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR) { _addr = address; }
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// take_reading - ask sensor to make a range reading
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bool take_reading();
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// read value from sensor and return distance in cm
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int16_t read();
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// heath
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bool healthy;
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protected:
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uint8_t _addr;
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};
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#endif // __AP_RANGEFINDER_MAXSONARI2CXL_H__
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