ardupilot/libraries/SITL/SIM_RF_Benewake_TFmini.h

48 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/>.
*/
/*
Simulator for the TFMini RangeFinder
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:benewake_tfmini --speedup=1
param set SERIAL5_PROTOCOL 9
param set RNGFND1_TYPE 20
graph RANGEFINDER.distance
graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
reboot
arm throttle
rc 3 1600
*/
#pragma once
#include "SIM_RF_Benewake.h"
namespace SITL {
class RF_Benewake_TFmini : public RF_Benewake {
public:
// see AP_RangeFinder_Benewake.cpp for definitions
uint8_t byte4() const override { return 1; } // strength L
uint8_t byte5() const override { return 1; } // strength H
uint8_t byte6() const override { return 0x07; } // distance mode (0x02=mm 0x07=cm)
uint8_t byte7() const override { return 0; } // TF02 only
};
}