mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.6 KiB
C++
48 lines
1.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
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* infrared proximity sensor
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* Code by Jose Julio and Randy Mackay. DIYDrones.com
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*
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* This has the basic functions that all RangeFinders need implemented
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*/
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#include "RangeFinder.h"
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// Public Methods //////////////////////////////////////////////////////////////
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// Read Sensor data - post of the ahrd work is done by the child class's convert_raw_to_distance
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int16_t RangeFinder::read()
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{
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int16_t temp_dist;
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// convert analog value to distance in cm (using child implementation most likely)
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temp_dist = convert_raw_to_distance(_analog_source->read_average());
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// ensure distance is within min and max
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temp_dist = constrain_float(temp_dist, min_distance, max_distance);
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if (_mode_filter) {
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distance = _mode_filter->apply(temp_dist);
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}
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else {
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distance = temp_dist;
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}
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return distance;
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}
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