mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
38 lines
762 B
C++
38 lines
762 B
C++
#pragma once
|
|
|
|
#include "SIM_config.h"
|
|
|
|
#if AP_SIM_MAXSONAR_I2C_XL_ENABLED
|
|
|
|
#include "SIM_I2CDevice.h"
|
|
|
|
namespace SITL {
|
|
|
|
class MaxSonarI2CXL : public I2CDevice, public I2CCommandResponseDevice
|
|
{
|
|
public:
|
|
|
|
// methods to make I2CCommandResponseDevice happy:
|
|
uint8_t command_take_reading() const override { return 0x51; }
|
|
uint16_t reading() const override {
|
|
return rangefinder_range * 100;
|
|
};
|
|
|
|
void update(const class Aircraft &aircraft) override {
|
|
rangefinder_range = aircraft.rangefinder_range();
|
|
}
|
|
|
|
int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override {
|
|
return I2CCommandResponseDevice::rdwr(data);
|
|
}
|
|
|
|
|
|
private:
|
|
|
|
float rangefinder_range;
|
|
};
|
|
|
|
} // namespace SITL
|
|
|
|
#endif // AP_SIM_MAXSONAR_I2C_XL_ENABLED
|