mirror of https://github.com/ArduPilot/ardupilot
35 lines
1.1 KiB
C++
35 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/>.
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
Simulator for the serial LightWare rangefinder - binary mode
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "SIM_RF_LightWareSerialBinary.h"
|
||
|
|
|
||
|
|
#include <GCS_MAVLink/GCS.h>
|
||
|
|
#include <stdio.h>
|
||
|
|
|
||
|
|
|
||
|
|
using namespace SITL;
|
||
|
|
|
||
|
|
uint32_t RF_LightWareSerialBinary::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
|
||
|
|
{
|
||
|
|
// high byte is second 7 bits but high bit set
|
||
|
|
buffer[0] = ((alt_cm >> 7) & 0x7f) | (1<<7);
|
||
|
|
// low byte is just first 7 bits
|
||
|
|
buffer[1] = alt_cm & 0x7f;
|
||
|
|
return 2;
|
||
|
|
}
|