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28 lines
721 B
28 lines
721 B
#pragma once |
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#include "RangeFinder.h" |
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#include "RangeFinder_Backend.h" |
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class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor |
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AP_RangeFinder_uLanding(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, |
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AP_SerialManager &serial_manager); |
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// static detection function |
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static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager); |
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// update state |
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void update(void); |
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private: |
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// get a reading |
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bool get_reading(uint16_t &reading_cm); |
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AP_HAL::UARTDriver *uart = nullptr; |
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uint32_t last_reading_ms = 0; |
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uint8_t linebuf[10]; |
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uint8_t linebuf_len = 0; |
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};
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