mirror of https://github.com/ArduPilot/ardupilot
47 lines
2.1 KiB
C++
47 lines
2.1 KiB
C++
#ifndef RangeFinder_h
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#define RangeFinder_h
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#include <stdlib.h>
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#include <inttypes.h>
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#include "../AP_ADC/AP_ADC.h"
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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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#define AP_RANGEFINDER_PITOT_TUBE 1007
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#define AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL 7
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#define AP_RANGEFINDER_NUM_AVERAGES 4
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class RangeFinder
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{
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public:
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RangeFinder(); // constructor
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int _analogPort; // the port to which the sensor is connected
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AP_ADC *_ap_adc; // pointer to AP_ADC used for pitot tube
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int _history_ptr; // pointer to the most recent entry in the history table
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int _history[AP_RANGEFINDER_NUM_AVERAGES]; // history of recent distances used for filtering
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int _num_averages; // filter will return average of this many historic values (must be < AP_RANGEFINDER_NUM_AVERAGES)
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public:
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int raw_value; // raw value from the sensor
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int distance; // distance in cm
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int max_distance; // maximum measurable distance (in cm) - should be set in child's constructor
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int min_distance; // minimum measurable distance (in cm) - should be set in child's constructor
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int orientation_x, orientation_y, orientation_z;
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virtual void init(int analogPort, AP_ADC *adc = (AP_ADC*)NULL);
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virtual void set_orientation(int x, int y, int z);
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virtual void set_filter(int num_averages) { _num_averages = num_averages; } // allows control of amount of filtering done
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virtual int convert_raw_to_distance(int raw_value) { return raw_value; } // function that each child class should override to convert voltage to distance
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virtual int read(); // read value from sensor and return distance in cm
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};
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#endif
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