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SITL: add simulated LightWare serial lidar talking new binary protocol

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Peter Barker 2020-06-30 21:10:28 +10:00 committed by Peter Barker
parent c3246d61f4
commit ff46541604
2 changed files with 77 additions and 0 deletions
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34
libraries/SITL/SIM_RF_LightWareSerialBinary.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/>.
*/
/*
Simulator for the serial LightWare rangefinder - binary mode
*/
#include "SIM_RF_LightWareSerialBinary.h"
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
using namespace SITL;
uint32_t RF_LightWareSerialBinary::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
{
// high byte is second 7 bits but high bit set
buffer[0] = ((alt_cm >> 7) & 0x7f) | (1<<7);
// low byte is just first 7 bits
buffer[1] = alt_cm & 0x7f;
return 2;
}

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libraries/SITL/SIM_RF_LightWareSerialBinary.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 serial LightWare rangefinder - binary mode
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lightwareserial-binary --speedup=1
param set SERIAL5_PROTOCOL 9
param set RNGFND1_TYPE 8
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_LightWareSerialBinary : public SerialRangeFinder {
public:
uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
};
}