SITL: add JAE JRE simulator

libraries/SITL/SIM_RF_JRE.cpp

@@ -0,0 +1,50 @@
+/*
+   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 NoopLoop TOFSense-F/P Serial RangeFinders
+*/
+
+#include "SIM_RF_JRE.h"
+
+using namespace SITL;
+
+uint32_t RF_JRE::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
+{
+    uint16_t status = 0;
+    if (alt_cm > 50000) {
+        status |= 0x2;  // NTRK, whatever that means...
+    }
+
+    buffer[0] = 'R';
+    buffer[1] = 'A';
+    buffer[2] = 0x01;
+    buffer[3] = frame_count++;
+    buffer[4] = alt_cm >> 8;    // altitide low
+    buffer[5] = alt_cm & 0xff;  // Altitude-High, LSB
+    buffer[6] = 0x00;  // reserved
+    buffer[7] = 0x00;  // reserved
+    buffer[8] = 0x00;  // reserved
+    buffer[9] = 0x00;  // reserved
+    buffer[10] = 0x00;  // FFT
+    buffer[11] = 0x00;  // FFT
+    buffer[12] = status >> 8;  // FFT
+    buffer[13] = status & 0xff;  // FFT
+
+    const uint16_t crc = crc16_ccitt_r(&buffer[0], 14, 0xffff, 0xffff);
+    buffer[14] = crc & 0xff;
+    buffer[15] = crc >> 8;
+
+    return 16;
+}

libraries/SITL/SIM_RF_JRE.h

@@ -0,0 +1,46 @@
+/*
+   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 JAE JRE radio altimiter
+
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:jre --speedup=1 -L KalaupapaCliffs --map
+
+param set SERIAL5_PROTOCOL 9
+param set RNGFND1_TYPE 38
+reboot
+
+graph RANGEFINDER.distance
+
+arm throttle
+rc 3 1600
+
+*/
+
+#pragma once
+
+#include "SIM_SerialRangeFinder.h"
+
+namespace SITL {
+
+class RF_JRE : public SerialRangeFinder {
+public:
+
+    uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
+
+private:
+    uint8_t frame_count;  // sequence number
+};
+
+}