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30 lines
640 B
30 lines
640 B
#pragma once |
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#include "RangeFinder.h" |
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#include "RangeFinder_Backend_Serial.h" |
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class AP_RangeFinder_Lanbao : public AP_RangeFinder_Backend_Serial |
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{ |
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public: |
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using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial; |
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// Lanbao is always 115200: |
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uint32_t initial_baudrate(uint8_t serial_instance) const override { |
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return 115200; |
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} |
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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_LASER; |
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} |
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private: |
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// get a reading |
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bool get_reading(uint16_t &reading_cm) override; |
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uint8_t buf[6]; |
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uint8_t buf_len = 0; |
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};
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