ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h

51 lines
1.4 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_BoardConfig/AP_BoardConfig.h>
#ifndef AP_SIM_RANGEFINDER_ENABLED
#define AP_SIM_RANGEFINDER_ENABLED (AP_SIM_ENABLED && !defined(HAL_BUILD_AP_PERIPH))
#endif
#if AP_SIM_RANGEFINDER_ENABLED
#include "AP_RangeFinder_Backend.h"
#include <SITL/SITL.h>
class AP_RangeFinder_SITL : public AP_RangeFinder_Backend {
public:
// constructor. This incorporates initialisation as well.
AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, uint8_t instance);
// update the state structure
void update() override;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_UNKNOWN;
}
private:
SITL::SIM *sitl;
uint8_t _instance;
};
#endif // AP_SIM_RANGEFINDER_ENABLED