You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
56 lines
1.6 KiB
56 lines
1.6 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
#pragma once |
|
|
|
#include "RangeFinder.h" |
|
#include "RangeFinder_Backend.h" |
|
|
|
class AP_RangeFinder_PX4_PWM : public AP_RangeFinder_Backend |
|
{ |
|
public: |
|
// constructor |
|
AP_RangeFinder_PX4_PWM(RangeFinder::RangeFinder_State &_state, AP_Int16 &powersave_range, float &_estimated_terrain_height); |
|
|
|
// destructor |
|
~AP_RangeFinder_PX4_PWM(void); |
|
|
|
// static detection function |
|
static bool detect(); |
|
|
|
// update state |
|
void update(void) override; |
|
|
|
protected: |
|
|
|
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
|
return MAV_DISTANCE_SENSOR_UNKNOWN; |
|
} |
|
|
|
private: |
|
int _fd; |
|
uint64_t _last_timestamp; |
|
uint32_t _disable_time_ms; |
|
uint32_t _good_sample_count; |
|
float _last_sample_distance_cm; |
|
|
|
AP_Int16 &_powersave_range; |
|
float &estimated_terrain_height; |
|
|
|
// return true if we are beyond the power saving range |
|
bool out_of_range(void) const { |
|
return _powersave_range > 0 && estimated_terrain_height > _powersave_range; |
|
} |
|
|
|
};
|
|
|