mirror of https://github.com/ArduPilot/ardupilot
43 lines
900 B
C++
43 lines
900 B
C++
#pragma once
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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#if HAL_MSP_RANGEFINDER_ENABLED
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// Data timeout
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#define AP_RANGEFINDER_MSP_TIMEOUT_MS 500
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class AP_RangeFinder_MSP : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_MSP(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
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// static detection function
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static bool detect();
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// update state
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void update(void) override;
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// Get update from msp
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void handle_msp(const MSP::msp_rangefinder_data_message_t &pkt) override;
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protected:
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_UNKNOWN;
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}
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private:
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uint16_t distance_cm;
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// start a reading
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static bool start_reading(void);
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static bool get_reading(uint16_t &reading_cm);
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};
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#endif //HAL_MSP_RANGEFINDER_ENABLED
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