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38 lines
983 B
38 lines
983 B
9 years ago
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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// min and max distances
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#define AP_RANGEFINDER_COMPANIONCOMPUTER_MIN_DISTANCE 0
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#define AP_RANGEFINDER_COMPANIONCOMPUTER_MAX_DISTANCE 1400
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// Data timeout
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#define AP_RANGEFINDER_COMPANIONCOMPUTER_TIMEOUT_MS 500
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class AP_RangeFinder_CompanionComputer : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_CompanionComputer(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
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// static detection function
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static bool detect(RangeFinder &ranger, uint8_t instance);
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// update state
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void update(void);
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// Get update from mavlink
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void handle_msg(mavlink_message_t *msg);
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private:
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uint16_t cc_distance_cm;
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uint32_t last_update_ms;
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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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