ardupilot/libraries/SITL/SIM_SerialRangeFinder.cpp

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/*
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 serial rangefinders
*/
#include "SIM_SerialRangeFinder.h"
using namespace SITL;
void SerialRangeFinder::update(float range)
{
// just send a chunk of data at 5Hz:
const uint32_t now = AP_HAL::millis();
if (now - last_sent_ms < reading_interval_ms()) {
return;
}
last_sent_ms = now;
const uint16_t range_cm = uint16_t(range*100);
uint8_t data[255];
const uint32_t packetlen = packet_for_alt(range_cm,
data,
ARRAY_SIZE(data));
write_to_autopilot((char*)data, packetlen);
if (has_temperature()) {
send_temperature();
}
}
void SerialRangeFinder::send_temperature()
{
// Use the simple underwater model to get temperature
float rho, delta, theta;
AP_Baro::SimpleUnderWaterAtmosphere(-0.5 * 0.001, rho, delta, theta); // get simulated temperature for 0.5m depth
const float temperature = Aircraft::rand_normal(KELVIN_TO_C(SSL_AIR_TEMPERATURE * theta), 1); // FIXME pick a stddev based on data sheet
uint8_t data[255];
const uint32_t packetlen = packet_for_temperature(temperature,
data,
ARRAY_SIZE(data));
write_to_autopilot((char*)data, packetlen);
}