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.
49 lines
1.5 KiB
49 lines
1.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
/* |
|
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/>. |
|
*/ |
|
|
|
#ifndef AP_RangeFinder_PX4_H |
|
#define AP_RangeFinder_PX4_H |
|
|
|
#include "RangeFinder.h" |
|
|
|
class AP_RangeFinder_PX4 : public RangeFinder |
|
{ |
|
public: |
|
// constructor |
|
AP_RangeFinder_PX4(FilterInt16 *); |
|
|
|
// initialize all the range finder devices |
|
bool init(void); |
|
|
|
bool take_reading(void); |
|
|
|
void accumulate(void); |
|
|
|
// read value from primary sensor and return distance in cm |
|
int16_t read(); |
|
|
|
// return the number of compass instances |
|
uint8_t get_count(void) const { return _num_instances; } |
|
private: |
|
uint8_t _get_primary(void) const; |
|
uint8_t _num_instances; |
|
int _range_fd[RANGEFINDER_MAX_INSTANCES]; |
|
float _sum[RANGEFINDER_MAX_INSTANCES]; |
|
uint32_t _count[RANGEFINDER_MAX_INSTANCES]; |
|
uint64_t _last_timestamp[RANGEFINDER_MAX_INSTANCES]; |
|
}; |
|
|
|
#endif // AP_RangeFinder_PX4_H
|
|
|