Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Proximity_config.h"
       4             : 
       5             : #if AP_PROXIMITY_MAV_ENABLED
       6             : 
       7             : #include "AP_Proximity_Backend.h"
       8             : 
       9             : class AP_Proximity_MAV : public AP_Proximity_Backend
      10             : {
      11             : 
      12             : public:
      13             :     // constructor
      14             :     using AP_Proximity_Backend::AP_Proximity_Backend;
      15             : 
      16             :     // update state
      17             :     void update(void) override;
      18             : 
      19             :     // get maximum and minimum distances (in meters) of sensor
      20       14506 :     float distance_max_m() const override { return _distance_max; }
      21        1426 :     float distance_min_m() const override { return _distance_min; };
      22             : 
      23             :     // get distance upwards in meters. returns true on success
      24             :     bool get_upward_distance(float &distance) const override;
      25             : 
      26             :     // handle mavlink messages
      27             :     void handle_msg(const mavlink_message_t &msg) override;
      28             : 
      29             : private:
      30             : 
      31             :     // handle mavlink DISTANCE_SENSOR messages
      32             :     void handle_distance_sensor_msg(const mavlink_message_t &msg);
      33             :     // handle mavlink OBSTACLE_DISTANCE messages
      34             :     void handle_obstacle_distance_msg(const mavlink_message_t &msg);
      35             :     // handle mavlink OBSTACLE_DISTANCE_3D messages
      36             :     void handle_obstacle_distance_3d_msg(const mavlink_message_t &msg);
      37             : 
      38             :    AP_Proximity_Temp_Boundary temp_boundary;
      39             : 
      40             :     // horizontal distance support
      41             :     uint32_t _last_update_ms;   // system time of last mavlink message received
      42             :     uint32_t _last_msg_update_timestamp_ms;   // last stored mavlink message timestamp
      43             :     float _distance_max;        // max range of sensor in meters
      44             :     float _distance_min;        // min range of sensor in meters
      45             : 
      46             :     // upward distance support
      47             :     uint32_t _last_upward_update_ms;    // system time of last update of upward distance
      48             :     float _distance_upward;             // upward distance in meters
      49             : };
      50             : 
      51             : #endif // AP_PROXIMITY_MAV_ENABLED