ardupilot/libraries/AP_Proximity/AP_Proximity_AirSimSITL.h

50 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_Proximity.h"
#include "AP_Proximity_Backend.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
class AP_Proximity_AirSimSITL : public AP_Proximity_Backend
{
public:
// constructor
using AP_Proximity_Backend::AP_Proximity_Backend;
// update state
void update(void) override;
// get maximum and minimum distances (in meters) of sensor
float distance_max() const override;
float distance_min() const override;
// get distance upwards in meters. returns true on success
bool get_upward_distance(float &distance) const override;
private:
SITL::SITL *sitl = AP::sitl();
// sector related variables
float _angle_deg_last;
float _distance_m_last;
uint8_t _last_sector;
};
#endif // CONFIG_HAL_BOARD