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42 lines
900 B
42 lines
900 B
#pragma once |
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#include "AP_RangeFinder.h" |
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#include "AP_RangeFinder_Backend.h" |
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#if HAL_MSP_RANGEFINDER_ENABLED |
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// Data timeout |
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#define AP_RANGEFINDER_MSP_TIMEOUT_MS 500 |
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class AP_RangeFinder_MSP : public AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor |
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AP_RangeFinder_MSP(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); |
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// static detection function |
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static bool detect(); |
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// update state |
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void update(void) override; |
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// Get update from msp |
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void handle_msp(const MSP::msp_rangefinder_data_message_t &pkt) 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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uint16_t distance_cm; |
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// start a reading |
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static bool start_reading(void); |
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static bool get_reading(uint16_t &reading_cm); |
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}; |
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#endif //HAL_MSP_RANGEFINDER_ENABLED |
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