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