AP_RangeFinder_Benewake Class Reference

#include <AP_RangeFinder_Benewake.h>

Inheritance diagram for AP_RangeFinder_Benewake:

Collaboration diagram for AP_RangeFinder_Benewake:

Public Types
enum	benewake_model_type { BENEWAKE_TF02 = 0, BENEWAKE_TFmini = 1 }

Public Member Functions
	AP_RangeFinder_Benewake (RangeFinder::RangeFinder_State &_state, AP_SerialManager &serial_manager, uint8_t serial_instance, benewake_model_type model)
void	update (void)
Public Member Functions inherited from AP_RangeFinder_Backend
	AP_RangeFinder_Backend (RangeFinder::RangeFinder_State &_state)
virtual	~AP_RangeFinder_Backend (void)
virtual void	handle_msg (mavlink_message_t *msg)
void	update_pre_arm_check ()
enum Rotation	orientation () const
uint16_t	distance_cm () const
uint16_t	voltage_mv () const
int16_t	max_distance_cm () const
int16_t	min_distance_cm () const
int16_t	ground_clearance_cm () const
MAV_DISTANCE_SENSOR	get_mav_distance_sensor_type () const
RangeFinder::RangeFinder_Status	status () const
RangeFinder::RangeFinder_Type	type () const
bool	has_data () const
uint8_t	range_valid_count () const
const Vector3f &	get_pos_offset () const

Static Public Member Functions
static bool	detect (AP_SerialManager &serial_manager, uint8_t serial_instance)

Protected Member Functions
virtual MAV_DISTANCE_SENSOR	_get_mav_distance_sensor_type () const override
Protected Member Functions inherited from AP_RangeFinder_Backend
void	update_status ()
void	set_status (RangeFinder::RangeFinder_Status status)

Private Member Functions
bool	get_reading (uint16_t &reading_cm, bool &signal_ok)

Private Attributes
AP_HAL::UARTDriver *	uart = nullptr
benewake_model_type	model_type
uint32_t	last_reading_ms
char	linebuf [10]
uint8_t	linebuf_len

Additional Inherited Members
Protected Attributes inherited from AP_RangeFinder_Backend
RangeFinder::RangeFinder_State &	state
AP_HAL::Semaphore *	_sem

Detailed Description

Definition at line 6 of file AP_RangeFinder_Benewake.h.

Member Enumeration Documentation

benewake_model_type

enum AP_RangeFinder_Benewake::benewake_model_type

Enumerator
BENEWAKE_TF02
BENEWAKE_TFmini

Definition at line 11 of file AP_RangeFinder_Benewake.h.

Constructor & Destructor Documentation

AP_RangeFinder_Benewake()

AP_RangeFinder_Benewake::AP_RangeFinder_Benewake	(	RangeFinder::RangeFinder_State &	_state,
		AP_SerialManager &	serial_manager,
		uint8_t	serial_instance,
		benewake_model_type	model
	)

Definition at line 47 of file AP_RangeFinder_Benewake.cpp.

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Member Function Documentation

_get_mav_distance_sensor_type()

virtual MAV_DISTANCE_SENSOR AP_RangeFinder_Benewake::_get_mav_distance_sensor_type ( ) const

inlineoverrideprotectedvirtual

Implements AP_RangeFinder_Backend.

Definition at line 30 of file AP_RangeFinder_Benewake.h.

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detect()

bool AP_RangeFinder_Benewake::detect ( AP_SerialManager &  serial_manager, uint8_t  serial_instance  )

static

Definition at line 65 of file AP_RangeFinder_Benewake.cpp.

Referenced by RangeFinder::detect_instance().

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get_reading()

bool AP_RangeFinder_Benewake::get_reading ( uint16_t &  reading_cm, bool &  signal_ok  )

private

Definition at line 71 of file AP_RangeFinder_Benewake.cpp.

Referenced by _get_mav_distance_sensor_type(), and update().

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update()

void AP_RangeFinder_Benewake::update ( void  )

virtual

Implements AP_RangeFinder_Backend.

Definition at line 150 of file AP_RangeFinder_Benewake.cpp.

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Member Data Documentation

last_reading_ms

uint32_t AP_RangeFinder_Benewake::last_reading_ms

private

Definition at line 42 of file AP_RangeFinder_Benewake.h.

Referenced by update().

linebuf

char AP_RangeFinder_Benewake::linebuf[10]

private

Definition at line 43 of file AP_RangeFinder_Benewake.h.

Referenced by get_reading().

linebuf_len

uint8_t AP_RangeFinder_Benewake::linebuf_len

private

Definition at line 44 of file AP_RangeFinder_Benewake.h.

Referenced by get_reading().

model_type

benewake_model_type AP_RangeFinder_Benewake::model_type

private

Definition at line 41 of file AP_RangeFinder_Benewake.h.

Referenced by get_reading().

uart

AP_HAL::UARTDriver* AP_RangeFinder_Benewake::uart = nullptr

private

Definition at line 40 of file AP_RangeFinder_Benewake.h.

Referenced by AP_RangeFinder_Benewake(), and get_reading().

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The documentation for this class was generated from the following files:

• libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h
• libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp