mirror of https://github.com/ArduPilot/ardupilot
57 lines
2.1 KiB
C++
57 lines
2.1 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 MAVLink Serial rangefinder
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*/
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#include "SIM_RF_MAVLink.h"
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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#include <string.h>
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using namespace SITL;
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uint32_t RF_MAVLink::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
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{
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mavlink_message_t msg;
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const uint8_t system_id = 32;
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const uint8_t component_id = 32;
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const mavlink_distance_sensor_t distance_sensor{
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.time_boot_ms = AP_HAL::millis(),
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.min_distance = 10, // cm
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.max_distance = 1000, // cm
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.current_distance = alt_cm,
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.type = 0,
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.id = 72, // ID
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.orientation = MAV_SENSOR_ROTATION_PITCH_270,
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.covariance = 255, // 255 is unknown covariance
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.horizontal_fov = 0, // 0 is unknown horizontal fov
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.vertical_fov = 0, // 0 is unknown vertical fov
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.quaternion = {0,0,0,0} // unknown/unused quat
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};
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const uint16_t len = mavlink_msg_distance_sensor_encode_status(system_id,
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component_id,
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&mav_status,
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&msg,
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&distance_sensor);
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if (len > buflen) {
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AP_HAL::panic("Insufficient buffer passed in");
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}
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const uint16_t retlen = mavlink_msg_to_send_buffer(buffer, &msg);
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return retlen;
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}
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