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AP_HAL: add TeraRange Neo Rangefinder

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This commit is contained in:
Henry Wurzburg 2022-08-01 18:44:01 -05:00 committed by Andrew Tridgell
parent d555c49230
commit 4c24b89dde
2 changed files with 6 additions and 0 deletions
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3
libraries/AP_HAL/SIMState.cpp
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@ -116,6 +116,9 @@ void SIMState::fdm_input_local(void)
if (benewake_tfmini != nullptr) {
benewake_tfmini->update(sitl_model->rangefinder_range());
}
if (teraranger_serial != nullptr) {
teraranger_serial->update(sitl_model->rangefinder_range());
}
if (lightwareserial != nullptr) {
lightwareserial->update(sitl_model->rangefinder_range());
}

3
libraries/AP_HAL/SIMState.h
View File

@ -13,6 +13,7 @@
#include <SITL/SIM_RF_Benewake_TF02.h>
#include <SITL/SIM_RF_Benewake_TF03.h>
#include <SITL/SIM_RF_Benewake_TFmini.h>
#include <SITL/SIM_RF_TeraRanger_Serial.h>
#include <SITL/SIM_RF_LightWareSerial.h>
#include <SITL/SIM_RF_LightWareSerialBinary.h>
#include <SITL/SIM_RF_Lanbao.h>
@ -127,6 +128,8 @@ private:
SITL::RF_Benewake_TF03 *benewake_tf03;
// simulated Benewake tfmini rangefinder:
SITL::RF_Benewake_TFmini *benewake_tfmini;
// simulated TeraRangerSerial rangefinder:
SITL::RF_TeraRanger_Serial *teraranger_serial;
// simulated LightWareSerial rangefinder - legacy protocol::
SITL::RF_LightWareSerial *lightwareserial;