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33 lines
1.1 KiB
C
33 lines
1.1 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "sensors/battery.h"
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#include "drivers/sonar_hcsr04.h"
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#define SONAR_OUT_OF_RANGE (-1)
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extern int16_t sonarMaxRangeCm;
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extern int16_t sonarCfAltCm;
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extern int16_t sonarMaxAltWithTiltCm;
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void sonarInit(const sonarConfig_t *sonarConfig);
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void sonarUpdate(uint32_t currentTime);
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int32_t sonarRead(void);
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int32_t sonarCalculateAltitude(int32_t sonarDistance, float cosTiltAngle);
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int32_t sonarGetLatestAltitude(void);
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