src/main/sensors/sonar.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "sensors/battery.h"
  21 #include "drivers/sonar_hcsr04.h"
  22
  23 #define SONAR_OUT_OF_RANGE (-1)
  24
  25 extern int16_t sonarMaxRangeCm;
  26 extern int16_t sonarCfAltCm;
  27 extern int16_t sonarMaxAltWithTiltCm;
  28
  29 struct sonarHardware_s;
  30 const struct sonarHardware_s *sonarGetHardwareConfiguration(currentSensor_e currentSensor);
  31 void sonarInit(sonarConfig_t *sonarConfig);
  32 void sonarUpdate(void);
  33 int32_t sonarRead(void);
  34 int32_t sonarCalculateAltitude(int32_t sonarDistance, float cosTiltAngle);
  35 int32_t sonarGetLatestAltitude(void);