mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.4 KiB
C++
69 lines
1.4 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/>.
|
|
*/
|
|
/*
|
|
Simulated Frsky D device
|
|
|
|
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:frsky-d --speedup=1
|
|
|
|
param set SERIAL5_PROTOCOL 3
|
|
reboot
|
|
|
|
arm throttle
|
|
rc 3 1600
|
|
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "SIM_Aircraft.h"
|
|
|
|
#include <SITL/SITL.h>
|
|
|
|
#include "SIM_Frsky.h"
|
|
|
|
namespace SITL {
|
|
|
|
class Frsky_D : public Frsky {
|
|
public:
|
|
|
|
using Frsky::Frsky;
|
|
|
|
// update state
|
|
virtual void update() override;
|
|
|
|
private:
|
|
|
|
enum class State {
|
|
WANT_START_STOP_D = 16,
|
|
WANT_ID = 17,
|
|
WANT_BYTE1 = 18,
|
|
WANT_BYTE2 = 19,
|
|
};
|
|
State _state = State::WANT_START_STOP_D;
|
|
|
|
char _buffer[32];
|
|
uint16_t _buflen = 0;
|
|
|
|
uint8_t _id;
|
|
uint16_t _data;
|
|
|
|
|
|
void handle_data(uint8_t id, uint16_t data);
|
|
|
|
void shift_start_stop_d();
|
|
};
|
|
|
|
}
|