AP_RangeFinder_Wasp Class Reference

#include <AP_RangeFinder_Wasp.h>

Inheritance diagram for AP_RangeFinder_Wasp:

Collaboration diagram for AP_RangeFinder_Wasp:

Public Member Functions
	AP_RangeFinder_Wasp (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)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

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	wasp_configuration_stage {   WASP_CFG_RATE, WASP_CFG_ENCODING, WASP_CFG_PROTOCOL, WASP_CFG_FRQ,   WASP_CFG_GO, WASP_CFG_AUT, WASP_CFG_THR, WASP_CFG_MAVG,   WASP_CFG_MEDF, WASP_CFG_AVG, WASP_CFG_AUV, WASP_CFG_DONE }

Private Member Functions
bool	get_reading (uint16_t &reading_cm)
void	parse_response (void)

Private Attributes
wasp_configuration_stage	configuration_state
AP_HAL::UARTDriver *	uart
uint32_t	last_reading_ms
char	linebuf [10]
uint8_t	linebuf_len
AP_Int16	mavg
AP_Int16	medf
AP_Int16	frq
AP_Int16	avg
AP_Int16	thr
AP_Int8	baud

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

Detailed Description

Definition at line 9 of file AP_RangeFinder_Wasp.h.

Member Enumeration Documentation

wasp_configuration_stage

enum AP_RangeFinder_Wasp::wasp_configuration_stage

private

Enumerator
WASP_CFG_RATE
WASP_CFG_ENCODING
WASP_CFG_PROTOCOL
WASP_CFG_FRQ
WASP_CFG_GO
WASP_CFG_AUT
WASP_CFG_THR
WASP_CFG_MAVG
WASP_CFG_MEDF
WASP_CFG_AVG
WASP_CFG_AUV
WASP_CFG_DONE

Definition at line 30 of file AP_RangeFinder_Wasp.h.

Constructor & Destructor Documentation

AP_RangeFinder_Wasp()

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

Definition at line 63 of file AP_RangeFinder_Wasp.cpp.

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Member Function Documentation

_get_mav_distance_sensor_type()

virtual MAV_DISTANCE_SENSOR AP_RangeFinder_Wasp::_get_mav_distance_sensor_type ( ) const

inlineoverrideprotectedvirtual

Implements AP_RangeFinder_Backend.

Definition at line 24 of file AP_RangeFinder_Wasp.h.

detect()

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

static

Definition at line 81 of file AP_RangeFinder_Wasp.cpp.

Referenced by RangeFinder::detect_instance().

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get_reading()

bool AP_RangeFinder_Wasp::get_reading ( uint16_t &  reading_cm )

private

Definition at line 86 of file AP_RangeFinder_Wasp.cpp.

Referenced by update().

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parse_response()

void AP_RangeFinder_Wasp::parse_response ( void  )

private

Definition at line 197 of file AP_RangeFinder_Wasp.cpp.

Referenced by get_reading().

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update()

void AP_RangeFinder_Wasp::update ( void  )

overridevirtual

Implements AP_RangeFinder_Backend.

Definition at line 136 of file AP_RangeFinder_Wasp.cpp.

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Member Data Documentation

avg

AP_Int16 AP_RangeFinder_Wasp::avg

private

Definition at line 58 of file AP_RangeFinder_Wasp.h.

Referenced by update().

baud

AP_Int8 AP_RangeFinder_Wasp::baud

private

Definition at line 60 of file AP_RangeFinder_Wasp.h.

Referenced by update().

configuration_state

wasp_configuration_stage AP_RangeFinder_Wasp::configuration_state

private

Definition at line 45 of file AP_RangeFinder_Wasp.h.

Referenced by AP_RangeFinder_Wasp(), get_reading(), parse_response(), and update().

frq

AP_Int16 AP_RangeFinder_Wasp::frq

private

Definition at line 57 of file AP_RangeFinder_Wasp.h.

Referenced by update().

last_reading_ms

uint32_t AP_RangeFinder_Wasp::last_reading_ms

private

Definition at line 52 of file AP_RangeFinder_Wasp.h.

Referenced by get_reading(), and update().

linebuf

char AP_RangeFinder_Wasp::linebuf[10]

private

Definition at line 53 of file AP_RangeFinder_Wasp.h.

Referenced by get_reading(), and parse_response().

linebuf_len

uint8_t AP_RangeFinder_Wasp::linebuf_len

private

Definition at line 54 of file AP_RangeFinder_Wasp.h.

Referenced by get_reading().

mavg

AP_Int16 AP_RangeFinder_Wasp::mavg

private

Definition at line 55 of file AP_RangeFinder_Wasp.h.

Referenced by update().

medf

AP_Int16 AP_RangeFinder_Wasp::medf

private

Definition at line 56 of file AP_RangeFinder_Wasp.h.

Referenced by update().

thr

AP_Int16 AP_RangeFinder_Wasp::thr

private

Definition at line 59 of file AP_RangeFinder_Wasp.h.

Referenced by update().

uart

AP_HAL::UARTDriver* AP_RangeFinder_Wasp::uart

private

Definition at line 51 of file AP_RangeFinder_Wasp.h.

Referenced by AP_RangeFinder_Wasp(), get_reading(), and update().

var_info

const AP_Param::GroupInfo AP_RangeFinder_Wasp::var_info

static

Definition at line 20 of file AP_RangeFinder_Wasp.h.

Referenced by AP_RangeFinder_Wasp().

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

• libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
• libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp