From c1ce04a0cedacbc2a9a1b3cdd88211ac95dd659f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 20 Dec 2024 13:38:15 +1100
Subject: [PATCH] AP_HAL_SITL: add LD06 simulator

---
 libraries/AP_HAL_SITL/SITL_State_common.cpp | 14 ++++++++++++++
 libraries/AP_HAL_SITL/SITL_State_common.h   |  6 ++++++
 2 files changed, 20 insertions(+)

diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
index ad63e21fcf..b4e6ae1742 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -136,6 +136,14 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
         crsf = NEW_NOTHROW SITL::CRSF();
         return crsf;
 #endif
+#if AP_SIM_PS_LD06_ENABLED
+    } else if (streq(name, "ld06")) {
+        if (ld06 != nullptr) {
+            AP_HAL::panic("Only one ld06 at a time");
+        }
+        ld06 = NEW_NOTHROW SITL::PS_LD06();
+        return ld06;
+#endif  // AP_SIM_PS_LD06_ENABLED
 #if HAL_SIM_PS_RPLIDARA2_ENABLED
     } else if (streq(name, "rplidara2")) {
         if (rplidara2 != nullptr) {
@@ -314,6 +322,12 @@ void SITL_State_Common::sim_update(void)
     }
 #endif
 
+#if AP_SIM_PS_LD06_ENABLED
+    if (ld06 != nullptr) {
+        ld06->update(sitl_model->get_location());
+    }
+#endif  // AP_SIM_PS_LD06_ENABLED
+
 #if HAL_SIM_PS_RPLIDARA2_ENABLED
     if (rplidara2 != nullptr) {
         rplidara2->update(sitl_model->get_location());
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
index eb9099ad17..9079ae0737 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.h
+++ b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -26,6 +26,7 @@
 #include <SITL/SIM_CRSF.h>
 // #include <SITL/SIM_Frsky_SPort.h>
 // #include <SITL/SIM_Frsky_SPortPassthrough.h>
+#include <SITL/SIM_PS_LD06.h>
 #include <SITL/SIM_PS_RPLidarA2.h>
 #include <SITL/SIM_PS_RPLidarA1.h>
 #include <SITL/SIM_PS_TeraRangerTower.h>
@@ -115,6 +116,11 @@ public:
     // SITL::Frsky_SPort *frsky_sport;
     // SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
 
+#if AP_SIM_PS_LD06_ENABLED
+    // simulated LD06:
+    SITL::PS_LD06 *ld06;
+#endif  // AP_SIM_PS_LD06_ENABLED
+
 #if HAL_SIM_PS_RPLIDARA2_ENABLED
     // simulated RPLidarA2:
     SITL::PS_RPLidarA2 *rplidara2;