mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.5 KiB
C++
54 lines
1.5 KiB
C++
#ifndef __RANGEFINDER_H__
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#define __RANGEFINDER_H__
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#include <AP_Common.h>
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#include <AP_HAL.h>
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#include <Filter.h> // Filter library
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/*
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* #define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0
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* #define AP_RANGEFINDER_ORIENTATION_RIGHT -10, 0, 0
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* #define AP_RANGEFINDER_ORIENTATION_BACK 0,-10, 0
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* #define AP_RANGEFINDER_ORIENTATION_LEFT 10, 0, 0
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* #define AP_RANGEFINDER_ORIENTATION_UP 0, 0,-10
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* #define AP_RANGEFINDER_ORIENTATION_DOWN 0, 0, 10
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* #define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT -5, -5, 0
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* #define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT -5, -5, 0
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* #define AP_RANGEFINDER_ORIENTATION_BACK_LEFT 5, -5, 0
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* #define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT 5, 5, 0
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*/
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class RangeFinder
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{
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protected:
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RangeFinder(AP_HAL::AnalogSource * source, FilterInt16 *filter) :
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_analog_source(source),
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_mode_filter(filter) {
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}
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public:
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// distance: in cm
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int16_t distance;
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// maximum measurable distance: in cm
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int16_t max_distance;
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// minimum measurable distance: in cm
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int16_t min_distance;
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/**
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* convert_raw_to_distance:
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* function that each child class should override to convert voltage
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* to distance (in cm)
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*/
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virtual int16_t convert_raw_to_distance(int16_t raw_value) {
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return raw_value;
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}
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/**
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* read:
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* read value from sensor and return distance in cm
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*/
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virtual int16_t read();
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AP_HAL::AnalogSource* _analog_source;
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FilterInt16 * _mode_filter;
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};
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#endif // __RANGEFINDER_H__
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