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35 lines
1.1 KiB
35 lines
1.1 KiB
#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_RANGEFIDER_TIMEOUT_MS 200 // requests timeout after 0.2 seconds |
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class AP_Proximity_RangeFinder : public AP_Proximity_Backend |
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{ |
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public: |
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// constructor |
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using AP_Proximity_Backend::AP_Proximity_Backend; |
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// update state |
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void update(void) override; |
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// get maximum and minimum distances (in meters) of sensor |
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float distance_max() const override { return _distance_max; } |
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float distance_min() const override { return _distance_min; } |
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// get distance upwards in meters. returns true on success |
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bool get_upward_distance(float &distance) const override; |
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private: |
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// horizontal distance support |
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uint32_t _last_update_ms; // system time of last RangeFinder reading |
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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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// upward distance support |
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uint32_t _last_upward_update_ms; // system time of last update distance |
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float _distance_upward = -1; // upward distance in meters, negative if the last reading was out of range |
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};
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