mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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class AP_RangeFinder_PX4_PWM : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_PX4_PWM(RangeFinder::RangeFinder_State &_state, AP_Int16 &powersave_range, float &_estimated_terrain_height);
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// destructor
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~AP_RangeFinder_PX4_PWM(void);
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// static detection function
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static bool detect();
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// update state
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void update(void);
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protected:
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_UNKNOWN;
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}
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private:
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int _fd;
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uint64_t _last_timestamp;
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uint64_t _last_pulse_time_ms;
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uint32_t _disable_time_ms;
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uint32_t _good_sample_count;
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float _last_sample_distance_cm;
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AP_Int16 &_powersave_range;
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float &estimated_terrain_height;
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// return true if we are beyond the power saving range
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bool out_of_range(void) const {
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return _powersave_range > 0 && estimated_terrain_height > _powersave_range;
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}
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};
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