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49 lines
1.5 KiB
49 lines
1.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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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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#pragma once |
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#include "RangeFinder.h" |
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#include "RangeFinder_Backend.h" |
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class AP_RangeFinder_PX4 : public AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor |
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AP_RangeFinder_PX4(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state); |
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// destructor |
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~AP_RangeFinder_PX4(void); |
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// static detection function |
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static bool detect(RangeFinder &ranger, uint8_t instance); |
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// update state |
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void update(void); |
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private: |
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int _fd; |
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uint64_t _last_timestamp; |
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int16_t _last_max_distance_cm; |
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int16_t _last_min_distance_cm; |
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// we need to keep track of how many PX4 drivers have been loaded |
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// so we can open the right device filename |
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static uint8_t num_px4_instances; |
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// try to open the PX4 driver and return its fd |
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static int open_driver(void); |
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};
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