mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.3 KiB
C++
41 lines
1.3 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 TeraRanger Serial RangeFinders
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "SIM_RF_TeraRanger_Serial.h"
|
||
|
|
|
||
|
|
using namespace SITL;
|
||
|
|
|
||
|
|
uint32_t RF_TeraRanger_Serial::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
|
||
|
|
{
|
||
|
|
uint16_t alt_mm = alt_cm * 10;
|
||
|
|
buffer[0] = 0x54; //header byte
|
||
|
|
buffer[1] = alt_mm >> 8; //MSB mm
|
||
|
|
buffer[2] = alt_mm & 0xff; //LSB mm
|
||
|
|
|
||
|
|
if (alt_cm > 3000) {
|
||
|
|
buffer[3] = 0xC4; //full strength, out of range, no overtemp
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
buffer[3] = 0xC0; //full strength, no reading error, no overtemp
|
||
|
|
}
|
||
|
|
|
||
|
|
// calculate CRC8:
|
||
|
|
buffer[4] = crc_crc8(buffer,4);;
|
||
|
|
|
||
|
|
return 5;
|
||
|
|
}
|
||
|
|
|