ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h

70 lines
1.9 KiB
C++

#pragma once
#include "AP_RangeFinder.h"
#include "AP_RangeFinder_Backend_Serial.h"
#ifndef AP_RANGEFINDER_WASP_ENABLED
#define AP_RANGEFINDER_WASP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
#endif
#if AP_RANGEFINDER_WASP_ENABLED
// WASP 200 LRF
// http://www.attolloengineering.com/wasp-200-lrf.html
class AP_RangeFinder_Wasp : public AP_RangeFinder_Backend_Serial {
public:
AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params);
void update(void) override;
static const struct AP_Param::GroupInfo var_info[];
protected:
// Wasp is always 115200
uint32_t initial_baudrate(uint8_t serial_instance) const override {
return 115200;
}
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_LASER;
}
private:
enum wasp_configuration_stage {
WASP_CFG_RATE, // set the baudrate
WASP_CFG_ENCODING, // set the encoding to LBE
WASP_CFG_PROTOCOL, // set the protocol type used
WASP_CFG_FRQ, // set the update frequency
WASP_CFG_GO, // start/resume readings
WASP_CFG_AUT, // set the auto sensitivity threshold
WASP_CFG_THR, // set the sensitivity threshold
WASP_CFG_MAVG, // set the moving average filter
WASP_CFG_MEDF, // set the median filter windows size
WASP_CFG_AVG, // set the multi-pulse averages
WASP_CFG_AUV, // enforce auto voltage
WASP_CFG_DONE // done configuring
};
wasp_configuration_stage configuration_state = WASP_CFG_PROTOCOL;
bool get_reading(float &reading_m) override;
void parse_response(void);
char linebuf[10];
uint8_t linebuf_len;
AP_Int16 mavg;
AP_Int16 medf;
AP_Int16 frq;
AP_Int16 avg;
AP_Int16 thr;
AP_Int8 baud;
};
#endif