Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RangeFinder_config.h"
       4             : 
       5             : #if AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
       6             : 
       7             : #include "AP_RangeFinder.h"
       8             : #include "AP_RangeFinder_Backend_Serial.h"
       9             : 
      10             : class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend_Serial
      11             : {
      12             : 
      13             : public:
      14             : 
      15           1 :     static AP_RangeFinder_Backend_Serial *create(
      16             :         RangeFinder::RangeFinder_State &_state,
      17             :         AP_RangeFinder_Params &_params) {
      18           1 :         return NEW_NOTHROW AP_RangeFinder_MaxsonarSerialLV(_state, _params);
      19             :     }
      20             : 
      21             : protected:
      22             : 
      23         337 :     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
      24         337 :         return MAV_DISTANCE_SENSOR_ULTRASOUND;
      25             :     }
      26             : 
      27             : private:
      28             : 
      29             :     AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
      30             : 
      31             :     // get a reading
      32             :     bool get_reading(float &reading_m) override;
      33             : 
      34        1009 :     uint16_t read_timeout_ms() const override { return 500; }
      35             : 
      36             :     char linebuf[10];
      37             :     uint8_t linebuf_len = 0;
      38             : };
      39             : 
      40             : #endif  // AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED