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64 lines
1.7 KiB
64 lines
1.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Base class for serial rangefinders |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL_Boards.h> |
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#ifndef HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED |
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#define HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) |
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#endif |
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#if HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED |
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#include "SIM_Aircraft.h" |
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#include <SITL/SITL.h> |
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#include "SIM_SerialDevice.h" |
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namespace SITL { |
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class SerialProximitySensor : public SerialDevice { |
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public: |
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SerialProximitySensor() {}; |
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// update state |
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virtual void update(const Location &location); |
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virtual uint16_t reading_interval_ms() const { return 200; } // 5Hz default |
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virtual uint32_t packet_for_location(const Location &location, |
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uint8_t *data, |
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uint8_t buflen) = 0; |
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// return distance to nearest object at angle |
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float measure_distance_at_angle_bf(const Location &location, float angle) const { |
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return AP::sitl()->measure_distance_at_angle_bf(location, angle); |
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} |
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private: |
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uint32_t last_sent_ms; |
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}; |
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} |
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#endif
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