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dddd2c3297
* Basic Broadcom AFBR-S50 driver using vendor API and binary blob https://github.com/Broadcom/AFBR-S50-API * fix ARK Flow paw3902 rotation
70 lines
3.1 KiB
C++
70 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <lib/conversion/rotation.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/distance_sensor.h>
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class PX4Rangefinder
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{
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public:
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PX4Rangefinder(const uint32_t device_id,
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const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
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~PX4Rangefinder();
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// Set the MAV_DISTANCE_SENSOR type (LASER, ULTRASOUND, INFRARED, RADAR)
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void set_rangefinder_type(uint8_t rangefinder_type) { _distance_sensor_pub.get().type = rangefinder_type; };
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void set_device_id(const uint32_t device_id) { _distance_sensor_pub.get().device_id = device_id; };
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void set_device_type(const uint8_t device_type);
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void set_fov(const float fov) { set_hfov(fov); set_vfov(fov); }
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void set_hfov(const float fov) { _distance_sensor_pub.get().h_fov = fov; }
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void set_vfov(const float fov) { _distance_sensor_pub.get().v_fov = fov; }
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void set_max_distance(const float distance) { _distance_sensor_pub.get().max_distance = distance; }
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void set_min_distance(const float distance) { _distance_sensor_pub.get().min_distance = distance; }
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void set_orientation(const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
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void update(const hrt_abstime ×tamp_sample, const float distance, const int8_t quality = -1);
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int get_instance() { return _distance_sensor_pub.get_instance(); };
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private:
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uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
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};
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