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52 lines
1.5 KiB
52 lines
1.5 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "AP_RangeFinder_SITL.h" |
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extern const AP_HAL::HAL& hal; |
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/* |
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constructor - registers instance at top RangeFinder driver |
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*/ |
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AP_RangeFinder_SITL::AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, uint8_t instance) : |
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AP_RangeFinder_Backend(_state, _params), |
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sitl(AP::sitl()), |
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_instance(instance) |
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{} |
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/* |
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update distance_cm |
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*/ |
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void AP_RangeFinder_SITL::update(void) |
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{ |
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const float dist = sitl->get_rangefinder(_instance); |
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// negative distance means nothing is connected |
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if (is_negative(dist)) { |
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state.status = RangeFinder::Status::NoData; |
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return; |
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} |
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state.distance_cm = dist * 100.0f; |
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state.last_reading_ms = AP_HAL::millis(); |
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// update range_valid state based on distance measured |
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update_status(); |
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} |
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#endif
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