mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.6 KiB
C++
51 lines
1.6 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulator for the Ainstein LR-D1 Serial rangefinder
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*/
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#include "SIM_RF_Ainstein_LR_D1.h"
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using namespace SITL;
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uint32_t RF_Ainstein_LR_D1::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
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{
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const uint8_t PACKET_LEN = 32;
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if (buflen < PACKET_LEN) {
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return 0;
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}
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uint8_t malfunction_alert = 0;
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const uint8_t snr = (alt_cm == 0xFFFF) ? 0 : 100;
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buffer[0] = 0xEB; // packet header msb
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buffer[1] = 0x90; // packet header lsb
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buffer[2] = 0; // device_id
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buffer[3] = 28; // length
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buffer[4] = malfunction_alert;
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buffer[5] = 1; // object count
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buffer[6] = HIGHBYTE(alt_cm);
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buffer[7] = LOWBYTE(alt_cm);
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buffer[8] = snr;
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buffer[9] = 0; // speed high
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buffer[10] = 0; // speed low
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memset(&buffer[11], 0xff, 20); // unused
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buffer[31] = crc_sum_of_bytes(&buffer[3], PACKET_LEN-4); // minus headerMSB, headerLSB, device_id and checksum
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return PACKET_LEN;
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}
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