ardupilot/libraries/SITL/SIM_SerialProximitySensor.h

59 lines
1.5 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Base class for serial rangefinders
*/
#pragma once
#include "SIM_Aircraft.h"
#include <SITL/SITL.h>
#include "SIM_SerialDevice.h"
namespace SITL {
class SerialProximitySensor : public SerialDevice {
public:
SerialProximitySensor() {};
// update state
virtual void update(const Location &location);
virtual uint16_t reading_interval_ms() const { return 200; } // 5Hz default
virtual uint32_t packet_for_location(const Location &location,
uint8_t *data,
uint8_t buflen) = 0;
// return distance to nearest object at angle
float measure_distance_at_angle_bf(const Location &location, float angle) const;
private:
uint32_t last_sent_ms;
const Location post_origin {
518752066,
146487830,
0,
Location::AltFrame::ABSOLUTE
};
};
}