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32 lines
832 B
32 lines
832 B
#pragma once |
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#include "AP_RangeFinder_Backend.h" |
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#include <AP_CANManager/AP_CANSensor.h> |
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS |
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class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend, public CANSensor { |
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public: |
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AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); |
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void update() override; |
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// handler for incoming frames |
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void handle_frame(AP_HAL::CANFrame &frame) override; |
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static const struct AP_Param::GroupInfo var_info[]; |
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protected: |
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virtual 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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float _distance_sum_cm; |
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uint32_t _distance_count; |
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int32_t last_recv_id = -1; |
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AP_Int32 snr_min; |
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AP_Int32 receive_id; |
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}; |
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#endif //HAL_MAX_CAN_PROTOCOL_DRIVERS |
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