mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.1 KiB
C++
51 lines
1.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_RangeFinder_analog_H__
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#define __AP_RangeFinder_analog_H__
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#include "RangeFinder.h"
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#include <Filter.h>
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class AP_RangeFinder_analog
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{
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public:
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// constructor
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AP_RangeFinder_analog();
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// initialise the rangefinder
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void Init(void *adc);
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// return distance in centimeters
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float distance_cm(void);
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// return raw voltage. Used for calibration
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float voltage(void);
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// return true if the sonar is in the configured range
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bool in_range(void);
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// return true if enabled
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bool enabled(void) { return (bool)_enabled.get(); }
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enum RangeFinder_Function {
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FUNCTION_LINEAR = 0,
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FUNCTION_INVERTED = 1,
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FUNCTION_HYPERBOLA = 2
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};
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_HAL::AnalogSource *_source;
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AP_Int8 _pin;
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AP_Float _scaling;
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AP_Float _offset;
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AP_Int8 _function;
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AP_Int16 _min_distance_cm;
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AP_Int16 _max_distance_cm;
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int8_t _last_pin;
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AP_Int8 _enabled;
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};
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#endif // __AP_RangeFinder_analog_H__
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