diff --git a/libraries/AP_HAL/SIMState.cpp b/libraries/AP_HAL/SIMState.cpp index 9c461010f4..a0a3a82c68 100644 --- a/libraries/AP_HAL/SIMState.cpp +++ b/libraries/AP_HAL/SIMState.cpp @@ -163,6 +163,9 @@ void SIMState::fdm_input_local(void) if (leddarone != nullptr) { leddarone->update(sitl_model->rangefinder_range()); } + if (rds02uf != nullptr) { + rds02uf->update(sitl_model->rangefinder_range()); + } if (USD1_v0 != nullptr) { USD1_v0->update(sitl_model->rangefinder_range()); } diff --git a/libraries/AP_HAL/SIMState.h b/libraries/AP_HAL/SIMState.h index b16f1144a2..3d420963de 100644 --- a/libraries/AP_HAL/SIMState.h +++ b/libraries/AP_HAL/SIMState.h @@ -19,6 +19,7 @@ #include #include #include +#include #include #include #include @@ -139,6 +140,8 @@ private: SITL::RF_BLping *blping; // simulated LeddarOne rangefinder: SITL::RF_LeddarOne *leddarone; + // simulated RDS02UF rangefinder: + SITL::RF_RDS02UF *rds02uf; // simulated USD1 v0 rangefinder: SITL::RF_USD1_v0 *USD1_v0; // simulated USD1 v1 rangefinder: