mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.4 KiB
C++
50 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_Proximity.h"
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#include "AP_Proximity_Backend.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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class AP_Proximity_AirSimSITL : public AP_Proximity_Backend
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{
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public:
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// constructor
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using AP_Proximity_Backend::AP_Proximity_Backend;
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// update state
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void update(void) override;
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const override;
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float distance_min() const override;
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// get distance upwards in meters. returns true on success
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bool get_upward_distance(float &distance) const override;
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private:
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SITL::SITL *sitl = AP::sitl();
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// sector related variables
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float _angle_deg_last;
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float _distance_m_last;
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uint8_t _last_sector;
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};
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#endif // CONFIG_HAL_BOARD
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