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40 lines
1015 B
40 lines
1015 B
#pragma once |
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#include "AP_RangeFinder.h" |
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#include "AP_RangeFinder_Backend_Serial.h" |
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#ifndef AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED |
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#define AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED |
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#endif |
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#if AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED |
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class AP_RangeFinder_TeraRanger_Serial : public AP_RangeFinder_Backend_Serial |
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{ |
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public: |
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static AP_RangeFinder_Backend_Serial *create( |
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RangeFinder::RangeFinder_State &_state, |
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AP_RangeFinder_Params &_params) { |
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return new AP_RangeFinder_TeraRanger_Serial(_state, _params); |
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} |
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protected: |
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using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial; |
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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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// distance returned in reading_m |
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bool get_reading(float &reading_m) override; |
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uint8_t linebuf[10]; |
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uint8_t linebuf_len; |
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}; |
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#endif // AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED
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