mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.4 KiB
C++
50 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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Base class for simulator for the NoopLoop TOFSense-F/P Serial RangeFinders
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*/
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#include "SIM_RF_NoopLoop.h"
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using namespace SITL;
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uint32_t RF_Nooploop::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
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{
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int32_t alt_scaled = 2560*alt_cm;
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buffer[0] = 0x57;
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buffer[1] = 0x00;
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buffer[2] = 0xff;
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buffer[3] = 0x00;
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buffer[4] = 0x9e;
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buffer[5] = 0x8f;
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buffer[6] = 0x00;
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buffer[7] = 0x00;
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buffer[8] = alt_scaled >> 8 & 0xff;
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buffer[9] = alt_scaled >> 16 & 0xff;
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buffer[10] = alt_scaled >> 24 & 0xff;
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buffer[11] = 0x00;
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buffer[12] = 0x03;
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buffer[13] = 0x00;
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buffer[14] = 0x06;
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// calculate checksum:
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buffer[15] = 0;
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for (uint8_t i=0; i<15; i++) {
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buffer[15] += buffer[i];
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}
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return 16;
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}
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