You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
58 lines
1.5 KiB
58 lines
1.5 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
/* |
|
Base class for serial rangefinders |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include "SIM_Aircraft.h" |
|
|
|
#include <SITL/SITL.h> |
|
|
|
#include "SIM_SerialDevice.h" |
|
|
|
namespace SITL { |
|
|
|
class SerialProximitySensor : public SerialDevice { |
|
public: |
|
|
|
SerialProximitySensor() {}; |
|
|
|
// update state |
|
virtual void update(const Location &location); |
|
|
|
virtual uint16_t reading_interval_ms() const { return 200; } // 5Hz default |
|
|
|
virtual uint32_t packet_for_location(const Location &location, |
|
uint8_t *data, |
|
uint8_t buflen) = 0; |
|
|
|
// return distance to nearest object at angle |
|
float measure_distance_at_angle_bf(const Location &location, float angle) const; |
|
|
|
private: |
|
|
|
uint32_t last_sent_ms; |
|
|
|
const Location post_origin { |
|
518752066, |
|
146487830, |
|
0, |
|
Location::AltFrame::ABSOLUTE |
|
}; |
|
}; |
|
|
|
}
|
|
|