mirror of https://github.com/ArduPilot/ardupilot
41 lines
844 B
C++
41 lines
844 B
C++
#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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// Data timeout
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#define AP_RANGEFINDER_MAVLINK_TIMEOUT_MS 500
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class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state);
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// static detection function
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static bool detect();
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// update state
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void update(void);
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// Get update from mavlink
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void handle_msg(mavlink_message_t *msg);
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protected:
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return sensor_type;
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}
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private:
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uint16_t distance_cm;
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uint32_t last_update_ms;
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// start a reading
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static bool start_reading(void);
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static bool get_reading(uint16_t &reading_cm);
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MAV_DISTANCE_SENSOR sensor_type = MAV_DISTANCE_SENSOR_UNKNOWN;
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};
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