ardupilot/libraries/AP_RangeFinder/RangeFinder.h

47 lines
2.1 KiB
C++

#ifndef RangeFinder_h
#define RangeFinder_h
#include <stdlib.h>
#include <inttypes.h>
#include "../AP_ADC/AP_ADC.h"
#define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0
#define AP_RANGEFINDER_ORIENTATION_RIGHT -10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_BACK 0,-10, 0
#define AP_RANGEFINDER_ORIENTATION_LEFT 10, 0, 0
#define AP_RANGEFINDER_ORIENTATION_UP 0, 0,-10
#define AP_RANGEFINDER_ORIENTATION_DOWN 0, 0, 10
#define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT -5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT -5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_BACK_LEFT 5, -5, 0
#define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 5, 5, 0
#define AP_RANGEFINDER_PITOT_TUBE 1007
#define AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL 7
#define AP_RANGEFINDER_NUM_AVERAGES 4
class RangeFinder
{
public:
RangeFinder(); // constructor
int _analogPort; // the port to which the sensor is connected
AP_ADC *_ap_adc; // pointer to AP_ADC used for pitot tube
int _history_ptr; // pointer to the most recent entry in the history table
int _history[AP_RANGEFINDER_NUM_AVERAGES]; // history of recent distances used for filtering
int _num_averages; // filter will return average of this many historic values (must be < AP_RANGEFINDER_NUM_AVERAGES)
public:
int raw_value; // raw value from the sensor
int distance; // distance in cm
int max_distance; // maximum measurable distance (in cm) - should be set in child's constructor
int min_distance; // minimum measurable distance (in cm) - should be set in child's constructor
int orientation_x, orientation_y, orientation_z;
virtual void init(int analogPort, AP_ADC *adc = (AP_ADC*)NULL);
virtual void set_orientation(int x, int y, int z);
virtual void set_filter(int num_averages) { _num_averages = num_averages; } // allows control of amount of filtering done
virtual int convert_raw_to_distance(int raw_value) { return raw_value; } // function that each child class should override to convert voltage to distance
virtual int read(); // read value from sensor and return distance in cm
};
#endif