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39 lines
1.2 KiB
39 lines
1.2 KiB
#pragma once |
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#include "AP_Proximity.h" |
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#include "AP_Proximity_Backend.h" |
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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) 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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// handle mavlink DISTANCE_SENSOR messages |
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void handle_msg(mavlink_message_t *msg) override; |
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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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// horizontal distance support |
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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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// 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; // upward distance in meters |
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};
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