C++ (Cpp) AP_RangeFinder_Backend::distance_cm Examples

Example #1

File: GCS_Mavlink.cpp Project: MnimiyUmnik/ardupilot

void Rover::send_rangefinder(mavlink_channel_t chan)
{
    float distance_cm;
    float voltage;
    bool got_one = false;

    // report smaller distance of all rangefinders
    for (uint8_t i=0; i<rangefinder.num_sensors(); i++) {
        AP_RangeFinder_Backend *s = rangefinder.get_backend(i);
        if (s == nullptr) {
            continue;
        }
        if (!got_one ||
            s->distance_cm() < distance_cm) {
            distance_cm = s->distance_cm();
            voltage = s->voltage_mv();
            got_one = true;
        }
    }
    if (!got_one) {
        // no relevant data found
        return;
    }

    mavlink_msg_rangefinder_send(
        chan,
        distance_cm * 0.01f,
        voltage);
}

Example #2

File: RangeFinder.cpp Project: Javiercerna/ardupilot

uint16_t RangeFinder::distance_cm_orient(enum Rotation orientation) const
{
    AP_RangeFinder_Backend *backend = find_instance(orientation);
    if (backend == nullptr) {
        return 0;
    }
    return backend->distance_cm();
}