From c1202e4878137f416a07fb5130f5223a3832ec20 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 8 Dec 2020 21:13:41 +1100
Subject: [PATCH] AP_HAL_SITL: add simulated SF45B

---
 libraries/AP_HAL_SITL/SITL_State.cpp | 15 +++++++++++++++
 libraries/AP_HAL_SITL/SITL_State.h   |  4 ++++
 2 files changed, 19 insertions(+)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index e3e943d84a..65255de58e 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -358,6 +358,12 @@ int SITL_State::sim_fd(const char *name, const char *arg)
         }
         terarangertower = new SITL::PS_TeraRangerTower();
         return terarangertower->fd();
+    } else if (streq(name, "sf45b")) {
+        if (sf45b != nullptr) {
+            AP_HAL::panic("Only one sf45b at a time");
+        }
+        sf45b = new SITL::PS_LightWare_SF45B();
+        return sf45b->fd();
     } else if (streq(name, "richenpower")) {
         sitl_model->set_richenpower(&_sitl->richenpower_sim);
         return _sitl->richenpower_sim.fd();
@@ -471,6 +477,11 @@ int SITL_State::sim_fd_write(const char *name)
             AP_HAL::panic("No terarangertower created");
         }
         return terarangertower->write_fd();
+    } else if (streq(name, "sf45b")) {
+        if (sf45b == nullptr) {
+            AP_HAL::panic("No sf45b created");
+        }
+        return sf45b->write_fd();
     } else if (streq(name, "richenpower")) {
         return _sitl->richenpower_sim.write_fd();
     } else if (streq(name, "ie24")) {
@@ -686,6 +697,10 @@ void SITL_State::_fdm_input_local(void)
         terarangertower->update(sitl_model->get_location());
     }
 
+    if (sf45b != nullptr) {
+        sf45b->update(sitl_model->get_location());
+    }
+
     if (_sitl) {
         _sitl->efi_ms.update();
     }
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index a7eaeffb52..af201c0740 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -50,6 +50,7 @@
 // #include <SITL/SIM_Frsky_SPortPassthrough.h>
 #include <SITL/SIM_PS_RPLidarA2.h>
 #include <SITL/SIM_PS_TeraRangerTower.h>
+#include <SITL/SIM_PS_LightWare_SF45B.h>
 
 #include <SITL/SIM_RichenPower.h>
 #include <AP_HAL/utility/Socket.h>
@@ -289,6 +290,9 @@ private:
     // simulated RPLidarA2:
     SITL::PS_RPLidarA2 *rplidara2;
 
+    // simulated SF45B proximity sensor:
+    SITL::PS_LightWare_SF45B *sf45b;
+
     SITL::PS_TeraRangerTower *terarangertower;
 
     // simulated CRSF devices