mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.8 KiB
C++
62 lines
1.8 KiB
C++
#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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// WASP 200 LRF
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// http://www.attolloengineering.com/wasp-200-lrf.html
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class AP_RangeFinder_Wasp : public AP_RangeFinder_Backend {
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public:
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AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_SerialManager &serial_manager,
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uint8_t serial_instance);
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static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
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void update(void) override;
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_LASER;
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}
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private:
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enum wasp_configuration_stage {
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WASP_CFG_RATE, // set the baudrate
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WASP_CFG_ENCODING, // set the encoding to LBE
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WASP_CFG_PROTOCOL, // set the protocol type used
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WASP_CFG_FRQ, // set the update frequency
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WASP_CFG_GO, // start/resume readings
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WASP_CFG_AUT, // set the auto sensitivity threshold
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WASP_CFG_THR, // set the sensitivity threshold
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WASP_CFG_MAVG, // set the moving average filter
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WASP_CFG_MEDF, // set the median filter windows size
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WASP_CFG_AVG, // set the multi-pulse averages
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WASP_CFG_AUV, // enforce auto voltage
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WASP_CFG_DONE // done configuring
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};
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wasp_configuration_stage configuration_state;
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bool get_reading(uint16_t &reading_cm);
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void parse_response(void);
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AP_HAL::UARTDriver *uart;
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char linebuf[10];
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uint8_t linebuf_len;
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AP_Int16 mavg;
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AP_Int16 medf;
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AP_Int16 frq;
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AP_Int16 avg;
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AP_Int16 thr;
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AP_Int8 baud;
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};
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