zr-v4/libraries/AP_RangeFinder/AP_RangeFinder_insighticaSerial.h

#pragma once

#include "RangeFinder.h"
#include "RangeFinder_Backend.h"

class AP_RangeFinder_insighticaSerial : public AP_RangeFinder_Backend
{

public:
    // constructor
    AP_RangeFinder_insighticaSerial(RangeFinder::RangeFinder_State &_state,
                                                                 AP_RangeFinder_Params &_params,
                                                                 uint8_t serial_instance);

    // static detection function
    static bool detect(uint8_t serial_instance);

    // update state
    void update(void) override;
    
protected:

    virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
        return MAV_DISTANCE_SENSOR_LASER;
    }

private:
    // get a reading
    // bool get_reading(uint16_t &reading_cm,uint16_t &testdata);
    bool get_reading(uint16_t &reading_cm);

    AP_HAL::UARTDriver *uart = nullptr;
    uint32_t last_reading_ms = 0;
    uint8_t string[14],CheckSum;//校验数值存放
};