mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.1 KiB
C++
46 lines
1.1 KiB
C++
#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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class AP_RangeFinder_Benewake : public AP_RangeFinder_Backend
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{
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public:
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enum benewake_model_type {
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BENEWAKE_TF02 = 0,
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BENEWAKE_TFmini = 1
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};
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// constructor
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AP_RangeFinder_Benewake(RangeFinder::RangeFinder_State &_state,
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AP_SerialManager &serial_manager,
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uint8_t serial_instance,
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benewake_model_type model);
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// static detection function
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static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
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// update state
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void update(void);
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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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// get a reading
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// distance returned in reading_cm, signal_ok is set to true if sensor reports a strong signal
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bool get_reading(uint16_t &reading_cm, bool &signal_ok);
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AP_HAL::UARTDriver *uart = nullptr;
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benewake_model_type model_type;
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uint32_t last_reading_ms;
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char linebuf[10];
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uint8_t linebuf_len;
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};
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