mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.4 KiB
C++
82 lines
2.4 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 TeraRangerTower proximity sensor
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*/
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#include "SIM_PS_TeraRangerTower.h"
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#if HAL_SIM_PS_TERARANGERTOWER_ENABLED
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#include <GCS_MAVLink/GCS.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <stdio.h>
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#include <errno.h>
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using namespace SITL;
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uint32_t PS_TeraRangerTower::packet_for_location(const Location &location,
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uint8_t *data,
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uint8_t buflen)
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{
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return 0;
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}
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void PS_TeraRangerTower::update_output(const Location &location)
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{
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const uint32_t now = AP_HAL::millis();
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if (last_output_time_ms == 0) {
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last_output_time_ms = now;
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return;
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}
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const uint32_t time_delta = now - last_output_time_ms;
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if (time_delta < 200) { // 5Hz update
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return;
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}
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last_output_time_ms = now;
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struct PACKED {
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uint8_t HEADER1{'T'};
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uint8_t HEADER2{'H'};
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uint16_t measurements[8];
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uint8_t checksum;
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} send_buffer;
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for (uint8_t i=0; i<8; i++) {
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const uint16_t bf_angle = (360 - (i * 45)) % 360;
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float distance = measure_distance_at_angle_bf(location, bf_angle);
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// ::fprintf(stderr, "SIM: %f=%fm\n", current_degrees_bf, distance);
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if (distance > MAX_RANGE) {
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send_buffer.measurements[i] = 0xffff;
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} else {
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send_buffer.measurements[i] = htobe16(distance * 1000);
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}
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}
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send_buffer.checksum = crc_crc8((uint8_t*)&send_buffer, 18);
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const ssize_t ret = write_to_autopilot((const char*)&send_buffer, sizeof(send_buffer));
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if (ret != sizeof(send_buffer)) {
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abort();
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}
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}
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void PS_TeraRangerTower::update(const Location &location)
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{
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update_output(location);
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}
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#endif // HAL_SIM_PS_TERARANGERTOWER_ENABLED
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