mirror of https://github.com/ArduPilot/ardupilot
42 lines
1018 B
C++
42 lines
1018 B
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_uLanding : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params,
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AP_SerialManager &serial_manager,
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uint8_t serial_instance);
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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) override;
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protected:
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_RADAR;
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}
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private:
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// detect uLanding Firmware Version
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bool detect_version(void);
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// get a reading
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bool get_reading(uint16_t &reading_cm);
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AP_HAL::UARTDriver *uart;
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uint8_t _linebuf[6];
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uint8_t _linebuf_len;
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bool _version_known;
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uint8_t _header;
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uint8_t _version;
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};
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