From 6943ea59b17d0697d1b44c66cfa3fc36063bde2a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 13 May 2023 11:24:27 +1000
Subject: [PATCH] AP_HAL: add simulator for RDS02UF rangefinder

---
 libraries/AP_HAL/SIMState.cpp | 3 +++
 libraries/AP_HAL/SIMState.h   | 3 +++
 2 files changed, 6 insertions(+)

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 <SITL/SIM_RF_Lanbao.h>
 #include <SITL/SIM_RF_BLping.h>
 #include <SITL/SIM_RF_LeddarOne.h>
+#include <SITL/SIM_RF_RDS02UF.h>
 #include <SITL/SIM_RF_USD1_v0.h>
 #include <SITL/SIM_RF_USD1_v1.h>
 #include <SITL/SIM_RF_MaxsonarSerialLV.h>
@@ -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: