add NanoRadar MR72,test ok

libraries/AP_Proximity/AP_Proximity.cpp

@@ -17,6 +17,7 @@
 #include "AP_Proximity_LightWareSF40C_v09.h"
 #include "AP_Proximity_RPLidarA2.h"
 #include "AP_Proximity_TeraRangerTower.h"
+#include "AP_Proximity_NanaRadar_MR72.h"
 #include "AP_Proximity_TeraRangerTowerEvo.h"
 #include "AP_Proximity_RangeFinder.h"
 #include "AP_Proximity_MAV.h"
@@ -307,6 +308,14 @@ void AP_Proximity::detect_instance(uint8_t instance)
             return;
         }
         break;
+
+    case Type::MR72:
+        if (AP_Proximity_NanaRadar_MR72::detect()) {
+            state[instance].instance = instance;
+            drivers[instance] = new AP_Proximity_NanaRadar_MR72(*this, state[instance]);
+            return;
+        }
+        break;
     case Type::TRTOWEREVO:
         if (AP_Proximity_TeraRangerTowerEvo::detect()) {
             state[instance].instance = instance;

libraries/AP_Proximity/AP_Proximity.h

@@ -47,6 +47,7 @@ public:
         RPLidarA2 = 5,
         TRTOWEREVO = 6,
         SF40C = 7,
+        MR72 = 8,
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
         SITL    = 10,
         MorseSITL = 11,

libraries/AP_RangeFinder/RangeFinder.cpp

@@ -19,6 +19,7 @@
 #include "AP_RangeFinder_MaxsonarI2CXL.h"
 #include "AP_RangeFinder_MaxsonarSerialLV.h"
 #include "AP_RangeFinder_insighticaSerial.h"
+#include "AP_RangeFinder_NanoRadar_MR72.h"
 #include "AP_RangeFinder_BBB_PRU.h"
 #include "AP_RangeFinder_LightWareI2C.h"
 #include "AP_RangeFinder_LightWareSerial.h"
@@ -498,6 +499,11 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
             drivers[instance] = new AP_RangeFinder_insighticaSerial(state[instance], params[instance], serial_instance++);
         }
         break;
+    case RangeFinder_NanoRadar_MR72:
+        if (AP_RangeFinder_NanoRadar_MR72::detect(serial_instance)) {
+            drivers[instance] = new AP_RangeFinder_NanoRadar_MR72(state[instance], params[instance], serial_instance++);
+        }
+        break;
     default:
         break;
     }

libraries/AP_RangeFinder/RangeFinder.h

@@ -78,6 +78,7 @@ public:
         RangeFinder_TYPE_Lanbao = 26,
         RangeFinder_TYPE_BenewakeTF03 = 27,
         RangeFinder_InsighticaSerial = 28,
+        RangeFinder_NanoRadar_MR72 = 29,
     };
 
     enum RangeFinder_Function {