mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.4 KiB
C++
51 lines
1.4 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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#pragma once
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#ifndef AP_SIM_RANGEFINDER_ENABLED
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#define AP_SIM_RANGEFINDER_ENABLED (AP_SIM_ENABLED && !defined(HAL_BUILD_AP_PERIPH))
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#endif
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#if AP_SIM_RANGEFINDER_ENABLED
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#include "AP_RangeFinder_Backend.h"
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#include <SITL/SITL.h>
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class AP_RangeFinder_SITL : public AP_RangeFinder_Backend {
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public:
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// constructor. This incorporates initialisation as well.
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AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, uint8_t instance);
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// update the state structure
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void update() override;
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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_UNKNOWN;
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}
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private:
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SITL::SIM *sitl;
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uint8_t _instance;
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};
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#endif // AP_SIM_RANGEFINDER_ENABLED
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