AP_RangeFinder_NMEA Class Reference

#include <AP_RangeFinder_NMEA.h>

Inheritance diagram for AP_RangeFinder_NMEA:

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Public Member Functions
	AP_RangeFinder_NMEA (RangeFinder::RangeFinder_State &_state, AP_SerialManager &serial_manager, uint8_t serial_instance)
void	update (void) override
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 Types
enum	sentence_types : uint8_t { SONAR_UNKNOWN = 0, SONAR_DBT, SONAR_DPT }
	enum for handled messages More...

Private Member Functions
bool	get_reading (uint16_t &reading_cm)
bool	decode (char c)
bool	decode_latest_term ()

Static Private Member Functions
static int16_t	char_to_hex (char a)

Private Attributes
AP_HAL::UARTDriver *	uart = nullptr
uint32_t	_last_reading_ms
char	_term [15]
uint8_t	_term_offset
uint8_t	_term_number
float	_distance_m
uint8_t	_checksum
bool	_term_is_checksum
sentence_types	_sentence_type

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

Detailed Description

Definition at line 21 of file AP_RangeFinder_NMEA.h.

Member Enumeration Documentation

sentence_types

enum AP_RangeFinder_NMEA::sentence_types : uint8_t

private

enum for handled messages

Enumerator
SONAR_UNKNOWN
SONAR_DBT
SONAR_DPT

Definition at line 45 of file AP_RangeFinder_NMEA.h.

Constructor & Destructor Documentation

AP_RangeFinder_NMEA()

AP_RangeFinder_NMEA::AP_RangeFinder_NMEA	(	RangeFinder::RangeFinder_State &	_state,
		AP_SerialManager &	serial_manager,
		uint8_t	serial_instance
	)

Definition at line 27 of file AP_RangeFinder_NMEA.cpp.

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Member Function Documentation

_get_mav_distance_sensor_type()

virtual MAV_DISTANCE_SENSOR AP_RangeFinder_NMEA::_get_mav_distance_sensor_type ( ) const

inlineoverrideprotectedvirtual

Implements AP_RangeFinder_Backend.

Definition at line 38 of file AP_RangeFinder_NMEA.h.

char_to_hex()

int16_t AP_RangeFinder_NMEA::char_to_hex ( char  a )

staticprivate

Definition at line 178 of file AP_RangeFinder_NMEA.cpp.

Referenced by decode_latest_term().

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decode()

bool AP_RangeFinder_NMEA::decode ( char  c )

private

Definition at line 89 of file AP_RangeFinder_NMEA.cpp.

Referenced by get_reading().

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decode_latest_term()

bool AP_RangeFinder_NMEA::decode_latest_term ( )

private

Definition at line 132 of file AP_RangeFinder_NMEA.cpp.

Referenced by decode().

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detect()

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

static

Definition at line 40 of file AP_RangeFinder_NMEA.cpp.

Referenced by RangeFinder::detect_instance().

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get_reading()

bool AP_RangeFinder_NMEA::get_reading ( uint16_t &  reading_cm )

private

Definition at line 59 of file AP_RangeFinder_NMEA.cpp.

Referenced by update().

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update()

void AP_RangeFinder_NMEA::update ( void  )

overridevirtual

Implements AP_RangeFinder_Backend.

Definition at line 46 of file AP_RangeFinder_NMEA.cpp.

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Member Data Documentation

_checksum

uint8_t AP_RangeFinder_NMEA::_checksum

private

Definition at line 74 of file AP_RangeFinder_NMEA.h.

Referenced by decode(), and decode_latest_term().

_distance_m

float AP_RangeFinder_NMEA::_distance_m

private

Definition at line 73 of file AP_RangeFinder_NMEA.h.

Referenced by decode(), decode_latest_term(), and get_reading().

_last_reading_ms

uint32_t AP_RangeFinder_NMEA::_last_reading_ms

private

Definition at line 67 of file AP_RangeFinder_NMEA.h.

Referenced by update().

_sentence_type

sentence_types AP_RangeFinder_NMEA::_sentence_type

private

Definition at line 76 of file AP_RangeFinder_NMEA.h.

Referenced by decode(), and decode_latest_term().

_term

char AP_RangeFinder_NMEA::_term[15]

private

Definition at line 70 of file AP_RangeFinder_NMEA.h.

Referenced by decode(), and decode_latest_term().

_term_is_checksum

bool AP_RangeFinder_NMEA::_term_is_checksum

private

Definition at line 75 of file AP_RangeFinder_NMEA.h.

Referenced by decode(), and decode_latest_term().

_term_number

uint8_t AP_RangeFinder_NMEA::_term_number

private

Definition at line 72 of file AP_RangeFinder_NMEA.h.

Referenced by decode(), and decode_latest_term().

_term_offset

uint8_t AP_RangeFinder_NMEA::_term_offset

private

Definition at line 71 of file AP_RangeFinder_NMEA.h.

Referenced by decode().

uart

AP_HAL::UARTDriver* AP_RangeFinder_NMEA::uart = nullptr

private

Definition at line 66 of file AP_RangeFinder_NMEA.h.

Referenced by AP_RangeFinder_NMEA(), and get_reading().

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

• libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
• libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp