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