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38 lines
852 B
38 lines
852 B
#pragma once |
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#include "AP_RangeFinder.h" |
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#include "AP_RangeFinder_Backend.h" |
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#include "AP_RangeFinder_Params.h" |
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#ifndef AP_RANGEFINDER_ANALOG_ENABLED |
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#define AP_RANGEFINDER_ANALOG_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_RANGEFINDER_ANALOG_ENABLED |
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class AP_RangeFinder_analog : public AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor |
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AP_RangeFinder_analog(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); |
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// static detection function |
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static bool detect(AP_RangeFinder_Params &_params); |
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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_UNKNOWN; |
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} |
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private: |
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// update raw voltage |
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void update_voltage(void); |
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AP_HAL::AnalogSource *source; |
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}; |
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#endif
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