ardupilot/libraries/SITL/SIM_PS_RPLidarA1.h

63 lines
1.5 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 RPLidarA2 proximity sensor
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidara1 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
param set SERIAL5_PROTOCOL 11
param set PRX1_TYPE 5
reboot
arm throttle
rc 3 1600
# for avoidance:
param set DISARM_DELAY 0
param set AVOID_ENABLE 2 # use proximity sensor
param set AVOID_MARGIN 2.00 # 2m
param set AVOID_BEHAVE 0 # slide
param set OA_DB_OUTPUT 3
param set OA_TYPE 2
reboot
mode loiter
script /tmp/post-locations.scr
arm throttle
rc 3 1600
rc 3 1500
rc 2 1450
*/
#pragma once
#include "SIM_config.h"
#if HAL_SIM_PS_RPLIDARA1_ENABLED
#include "SIM_PS_RPLidar.h"
namespace SITL {
class PS_RPLidarA1 : public PS_RPLidar {
public:
uint8_t device_info_model() const override { return 0x18; }
uint8_t max_range() const override { return 8.0f; };
};
}
#endif // HAL_SIM_PS_RPLIDARA1_ENABLED