mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.2 KiB
C++
40 lines
1.2 KiB
C++
#pragma once
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#include "AP_Proximity.h"
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#include "AP_Proximity_Backend.h"
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class AP_Proximity_MAV : public AP_Proximity_Backend
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{
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public:
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// constructor
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AP_Proximity_MAV(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
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// update state
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void update(void) override;
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const override { return _distance_max; }
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float distance_min() const override { return _distance_min; };
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// get distance upwards in meters. returns true on success
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bool get_upward_distance(float &distance) const override;
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// handle mavlink DISTANCE_SENSOR messages
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void handle_msg(const mavlink_message_t &msg) override;
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private:
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// initialise sensor (returns true if sensor is succesfully initialised)
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bool initialise();
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// horizontal distance support
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uint32_t _last_update_ms; // system time of last DISTANCE_SENSOR message received
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float _distance_max; // max range of sensor in meters
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float _distance_min; // min range of sensor in meters
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// upward distance support
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uint32_t _last_upward_update_ms; // system time of last update distance
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float _distance_upward; // upward distance in meters
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};
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