ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h

41 lines
949 B
C++

#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager,
uint8_t serial_instance);
// static detection function
static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
// update state
void update(void);
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_RADAR;
}
private:
// detect uLanding Firmware Version
bool detect_version(void);
// get a reading
bool get_reading(uint16_t &reading_cm);
AP_HAL::UARTDriver *uart;
uint8_t _linebuf[6];
uint8_t _linebuf_len;
bool _version_known;
uint8_t _header;
uint8_t _version;
};