ardupilot/libraries/SITL/SIM_RF_MAVLink.h

46 lines
1.2 KiB
C++

/*
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 NMEA serial rangefinder
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rf_mavlink --speedup=1
param set SERIAL5_PROTOCOL 1
param set RNGFND1_TYPE 10
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_MAVLink : public SerialRangeFinder {
public:
uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
private:
mavlink_status_t mav_status;
};
}