mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/*
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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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#include "AP_RangeFinder_Lua.h"
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#include <AP_HAL/AP_HAL.h>
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#if AP_SCRIPTING_ENABLED
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// constructor
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AP_RangeFinder_Lua::AP_RangeFinder_Lua(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
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AP_RangeFinder_Backend(_state, _params)
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{
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set_status(RangeFinder::Status::NoData);
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}
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// Set the distance based on a Lua Script
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bool AP_RangeFinder_Lua::handle_script_msg(float dist_m)
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{
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state.last_reading_ms = AP_HAL::millis();
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_distance_m = dist_m;
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return true;
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}
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// update the state of the sensor
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void AP_RangeFinder_Lua::update(void)
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{
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//Time out on incoming data; if we don't get new
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//data in 500ms, dump it
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if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
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set_status(RangeFinder::Status::NoData);
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state.distance_m = 0.0f;
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} else {
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state.distance_m = _distance_m;
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update_status();
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}
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}
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#endif
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