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34 lines
972 B
34 lines
972 B
8 years ago
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#pragma once
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#include "AP_Proximity.h"
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#include "AP_Proximity_Backend.h"
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#define PROXIMITY_MAV_TIMEOUT_MS 200 // requests timeout after 0.2 seconds
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class AP_Proximity_MAV : public AP_Proximity_Backend
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{
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public:
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// constructor
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AP_Proximity_MAV(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
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// update state
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void update(void);
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const { return _distance_max; }
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float distance_min() const { return _distance_min; };
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// handle mavlink DISTANCE_SENSOR messages
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void handle_msg(mavlink_message_t *msg);
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private:
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// initialise sensor (returns true if sensor is succesfully initialised)
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bool initialise();
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uint32_t _last_update_ms; // system time of last DISTANCE_SENSOR message received
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float _distance_max; // max range of sensor in meters
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float _distance_min; // min range of sensor in meters
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};
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