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SITL: add TeraRange Neo Rangefinder

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Henry Wurzburg 2022-08-01 18:44:01 -05:00 committed by Andrew Tridgell
parent a46c774698
commit aafc0789f0
2 changed files with 79 additions and 0 deletions
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40
libraries/SITL/SIM_RF_TeraRanger_Serial.cpp Normal file
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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/>.
*/
/*
Base class for simulator for the TeraRanger Serial RangeFinders
*/
#include "SIM_RF_TeraRanger_Serial.h"
using namespace SITL;
uint32_t RF_TeraRanger_Serial::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
{
uint16_t alt_mm = alt_cm * 10;
buffer[0] = 0x54; //header byte
buffer[1] = alt_mm >> 8; //MSB mm
buffer[2] = alt_mm & 0xff; //LSB mm
if (alt_cm > 3000) {
buffer[3] = 0xC4; //full strength, out of range, no overtemp
}
else {
buffer[3] = 0xC0; //full strength, no reading error, no overtemp
}
// calculate CRC8:
buffer[4] = crc_crc8(buffer,4);;
return 5;
}

39
libraries/SITL/SIM_RF_TeraRanger_Serial.h Normal file
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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 TeraRanger NEO RangeFinder
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:teraranger_serial --speedup=1
param set SERIAL5_PROTOCOL 9
param set RNGFND1_TYPE 35
graph RANGEFINDER.distance
graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
reboot
arm throttle
rc 3 1600
*/
#pragma once
#include "SIM_SerialRangeFinder.h"
namespace SITL {
class RF_TeraRanger_Serial : public SerialRangeFinder {
public:
uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
};
}