mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.7 KiB
C++
52 lines
1.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulator for the NMEA Serial rangefinder
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*/
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#include "SIM_RF_NMEA.h"
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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#include <string.h>
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using namespace SITL;
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uint32_t RF_NMEA::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
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{
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// Format 2 DBT NMEA mode (e.g. $SMDBT,5.94,f,1.81,M,67)
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// Format 3 DPT NMEA mode (e.g. $SMDPT,1.81,0.066)
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ssize_t ret = snprintf((char*)buffer, buflen, "$SMDPT,%f,%f", alt_cm*0.01f, 0.01f);
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uint8_t checksum = 0;
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for (uint8_t i=1; i<ret; i++) { // 1 because the initial $ is skipped
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checksum ^= buffer[i];
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}
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ret += snprintf((char*)&buffer[ret], buflen-ret, "*%02X\r\n", checksum);
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return ret;
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}
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uint32_t RF_NMEA::packet_for_temperature(float temperature, uint8_t *buffer, uint8_t buflen)
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{
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ssize_t ret = snprintf((char*)buffer, buflen, "$SMMTW,%f %f", temperature, 0.01);
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uint8_t checksum = 0;
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for (uint8_t i=1; i<ret; i++) { // 1 because the initial $ is skipped
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checksum ^= buffer[i];
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}
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ret += snprintf((char*)&buffer[ret], buflen-ret, "*%02X\r\n", checksum);
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return ret;
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}
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