ardupilot/libraries/SITL/SIM_RF_LightWareSerialBinar...

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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/>.
*/
/*
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;
}