mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.1 KiB
C
40 lines
1.1 KiB
C
|
/*
|
||
|
|
This program 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.
|
||
|
|
|
||
|
|
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
Base class for simulator for the Benewake Serial RangeFinders
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "SIM_SerialRangeFinder.h"
|
||
|
|
|
||
|
|
namespace SITL {
|
||
|
|
|
||
|
|
class RF_Benewake : public SerialRangeFinder {
|
||
|
|
public:
|
||
|
|
|
||
|
|
uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
virtual uint8_t byte4() const = 0;
|
||
|
|
virtual uint8_t byte5() const = 0;
|
||
|
|
virtual uint8_t byte6() const = 0;
|
||
|
|
virtual uint8_t byte7() const = 0;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|