mirror of https://github.com/ArduPilot/ardupilot
31 lines
663 B
C++
31 lines
663 B
C++
#pragma once
|
|
|
|
#include "AP_RangeFinder.h"
|
|
#include "AP_RangeFinder_Backend_Serial.h"
|
|
|
|
class AP_RangeFinder_Benewake : public AP_RangeFinder_Backend_Serial
|
|
{
|
|
|
|
public:
|
|
|
|
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
|
|
|
|
protected:
|
|
|
|
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
|
|
return MAV_DISTANCE_SENSOR_LASER;
|
|
}
|
|
|
|
virtual float model_dist_max_cm() const = 0;
|
|
virtual bool has_signal_byte() const { return false; }
|
|
|
|
private:
|
|
|
|
// get a reading
|
|
// distance returned in reading_m
|
|
bool get_reading(float &reading_m) override;
|
|
|
|
uint8_t linebuf[10];
|
|
uint8_t linebuf_len;
|
|
};
|