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50 lines
1.5 KiB
50 lines
1.5 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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#pragma once |
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#include <AP_BoardConfig/AP_BoardConfig.h> |
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#include "AP_RangeFinder_Backend.h" |
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#ifndef AP_RANGEFINDER_SIM_ENABLED |
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#define AP_RANGEFINDER_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED) |
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#endif |
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#if AP_RANGEFINDER_SIM_ENABLED |
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#include <SITL/SITL.h> |
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class AP_RangeFinder_SITL : public AP_RangeFinder_Backend { |
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public: |
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// constructor. This incorporates initialisation as well. |
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AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, uint8_t instance); |
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// update the state structure |
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void update() 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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SITL::SIM *sitl; |
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uint8_t _instance; |
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}; |
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#endif // AP_RANGEFINDER_SIM_ENABLED
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