mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.4 KiB
C++
48 lines
1.4 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 TFMini RangeFinder
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:benewake_tfmini --speedup=1
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param set SERIAL5_PROTOCOL 9
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param set RNGFND1_TYPE 20
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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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*/
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#pragma once
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#include "SIM_RF_Benewake.h"
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namespace SITL {
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class RF_Benewake_TFmini : public RF_Benewake {
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public:
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// see AP_RangeFinder_Benewake.cpp for definitions
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uint8_t byte4() const override { return 1; } // strength L
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uint8_t byte5() const override { return 1; } // strength H
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uint8_t byte6() const override { return 0x07; } // distance mode (0x02=mm 0x07=cm)
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uint8_t byte7() const override { return 0; } // TF02 only
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};
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}
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