mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.6 KiB
C++
50 lines
1.6 KiB
C++
#pragma once
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#include "AP_Proximity_Backend.h"
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#if HAL_PROXIMITY_ENABLED
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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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using AP_Proximity_Backend::AP_Proximity_Backend;
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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 messages
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void handle_msg(const mavlink_message_t &msg) override;
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private:
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// handle mavlink DISTANCE_SENSOR messages
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void handle_distance_sensor_msg(const mavlink_message_t &msg);
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// handle mavlink OBSTACLE_DISTANCE messages
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void handle_obstacle_distance_msg(const mavlink_message_t &msg);
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// handle mavlink OBSTACLE_DISTANCE_3D messages
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void handle_obstacle_distance_3d_msg(const mavlink_message_t &msg);
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AP_Proximity_Temp_Boundary temp_boundary;
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// horizontal distance support
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uint32_t _last_update_ms; // system time of last mavlink message received
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uint32_t _last_msg_update_timestamp_ms; // last stored mavlink message timestamp
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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 of upward distance
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float _distance_upward; // upward distance in meters
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};
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#endif // HAL_PROXIMITY_ENABLED
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