mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.4 KiB
C
69 lines
1.4 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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Simulated Frsky D device
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:frsky-d --speedup=1
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param set SERIAL5_PROTOCOL 3
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reboot
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arm throttle
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rc 3 1600
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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#include <SITL/SITL.h>
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#include "SIM_Frsky.h"
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namespace SITL {
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class Frsky_D : public Frsky {
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public:
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using Frsky::Frsky;
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// update state
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virtual void update() override;
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private:
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enum class State {
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WANT_START_STOP_D = 16,
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WANT_ID = 17,
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WANT_BYTE1 = 18,
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WANT_BYTE2 = 19,
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};
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State _state = State::WANT_START_STOP_D;
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char _buffer[32];
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uint16_t _buflen = 0;
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uint8_t _id;
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uint16_t _data;
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void handle_data(uint8_t id, uint16_t data);
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void shift_start_stop_d();
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};
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}
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