You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
56 lines
1.3 KiB
56 lines
1.3 KiB
#pragma once |
|
|
|
#include "AP_RangeFinder.h" |
|
#include "AP_RangeFinder_Backend.h" |
|
|
|
#ifndef AP_RANGEFINDER_MAVLINK_ENABLED |
|
#define AP_RANGEFINDER_MAVLINK_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED |
|
#endif |
|
|
|
#if AP_RANGEFINDER_MAVLINK_ENABLED |
|
|
|
// Data timeout |
|
#define AP_RANGEFINDER_MAVLINK_TIMEOUT_MS 500 |
|
|
|
class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend |
|
{ |
|
|
|
public: |
|
|
|
// constructor |
|
using AP_RangeFinder_Backend::AP_RangeFinder_Backend; |
|
|
|
// Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink, |
|
// there is an attached MAVLink rangefinder |
|
static bool detect() { return true; } |
|
|
|
// update state |
|
void update(void) override; |
|
|
|
// Get update from mavlink |
|
void handle_msg(const mavlink_message_t &msg) override; |
|
|
|
int16_t max_distance_cm() const override; |
|
int16_t min_distance_cm() const override; |
|
|
|
protected: |
|
|
|
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
|
return sensor_type; |
|
} |
|
|
|
private: |
|
|
|
// stored data from packet: |
|
uint16_t distance_cm; |
|
uint16_t _max_distance_cm; |
|
uint16_t _min_distance_cm; |
|
|
|
// start a reading |
|
static bool start_reading(void); |
|
static bool get_reading(uint16_t &reading_cm); |
|
|
|
MAV_DISTANCE_SENSOR sensor_type = MAV_DISTANCE_SENSOR_UNKNOWN; |
|
}; |
|
|
|
#endif
|
|
|