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33 lines
972 B
33 lines
972 B
#pragma once |
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#include "AP_Proximity.h" |
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#include "AP_Proximity_Backend.h" |
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#define PROXIMITY_MAV_TIMEOUT_MS 200 // requests timeout after 0.2 seconds |
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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); |
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// get maximum and minimum distances (in meters) of sensor |
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float distance_max() const { return _distance_max; } |
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float distance_min() const { return _distance_min; }; |
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// handle mavlink DISTANCE_SENSOR messages |
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void handle_msg(mavlink_message_t *msg); |
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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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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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};
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