mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
#pragma once
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#include "AP_RangeFinder_Backend.h"
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#ifndef AP_RANGEFINDER_UAVCAN_ENABLED
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#define AP_RANGEFINDER_UAVCAN_ENABLED (HAL_CANMANAGER_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
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#endif
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#if AP_RANGEFINDER_UAVCAN_ENABLED
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#include <AP_UAVCAN/AP_UAVCAN.h>
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class MeasurementCb;
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class AP_RangeFinder_UAVCAN : public AP_RangeFinder_Backend {
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public:
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//constructor - registers instance at top RangeFinder driver
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using AP_RangeFinder_Backend::AP_RangeFinder_Backend;
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void update() override;
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static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
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static AP_RangeFinder_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t address, bool create_new);
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static AP_RangeFinder_Backend* detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
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static void handle_measurement(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MeasurementCb &cb);
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protected:
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return _sensor_type;
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}
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private:
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uint8_t _instance;
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RangeFinder::Status _status;
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uint16_t _distance_cm;
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uint32_t _last_reading_ms;
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AP_UAVCAN* _ap_uavcan;
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uint8_t _node_id;
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bool new_data;
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MAV_DISTANCE_SENSOR _sensor_type;
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};
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#endif // AP_RANGEFINDER_UAVCAN_ENABLED
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