mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.2 KiB
C++
53 lines
1.2 KiB
C++
#pragma once
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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_USD1_SERIAL_ENABLED
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend_Serial.h"
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class AP_RangeFinder_USD1_Serial : public AP_RangeFinder_Backend_Serial
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{
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public:
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static AP_RangeFinder_Backend_Serial *create(
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RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params) {
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return NEW_NOTHROW AP_RangeFinder_USD1_Serial(_state, _params);
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}
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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_RADAR;
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}
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// baudrate used during object construction:
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uint32_t initial_baudrate(uint8_t serial_instance) const override {
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return 115200;
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}
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uint16_t rx_bufsize() const override { return 128; }
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uint16_t tx_bufsize() const override { return 128; }
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private:
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using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
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// detect USD1_Serial Firmware Version
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bool detect_version(void);
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// get a reading
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bool get_reading(float &reading_m) override;
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uint8_t _linebuf[6];
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uint8_t _linebuf_len;
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bool _version_known;
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uint8_t _header;
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uint8_t _version;
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};
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#endif // AP_RANGEFINDER_USD1_SERIAL_ENABLED
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