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betaflight/src/main/sensors/sonar.h
2016-11-10 08:32:44 +00:00

33 lines
1.1 KiB
C

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