mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.5 KiB
C++
56 lines
1.5 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 Ainstein LR-D1 serial rangefinder
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:ainsteinlrd1 --speedup=1
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param set SERIAL5_PROTOCOL 9
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param set RNGFND1_TYPE 42
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graph RANGEFINDER.distance
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graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
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reboot
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arm throttle
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rc 3 1600
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# to pass canned data through the simulator:
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/Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=file:libraries/AP_RangeFinder/examples/captures/ainstein_lr-d1.bin --speedup=1
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param set SERIAL5_PROTOCOL 9
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param set RNGFND1_TYPE 42
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reboot
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*/
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#pragma once
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#include "SIM_SerialRangeFinder.h"
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namespace SITL {
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class RF_Ainstein_LR_D1 : public SerialRangeFinder {
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public:
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uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
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uint16_t reading_interval_ms() const override { return 100; }
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private:
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};
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}
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