mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.2 KiB
C++
90 lines
2.2 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 Wasp serial rangefinder
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:wasp --speedup=1
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param set SERIAL5_PROTOCOL 9
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param set RNGFND1_TYPE 18
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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_SerialRangeFinder.h"
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namespace SITL {
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class RF_Wasp : public SerialRangeFinder {
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public:
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void update(float range) override;
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uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
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// 20Hz; if Wasp driver doesn't get a reading each time its update
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// is called it goes NoData
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uint16_t reading_interval_ms() const override { return 50; }
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private:
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void check_configuration();
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struct {
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bool go;
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char format[16]; // e.g. ASCII
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char baud[5]; // low or high
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char lbe[7]; // big or little
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int frq;
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int aut;
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int mavg;
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int medf;
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int avg;
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int auv;
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} config;
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const struct {
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const char *name;
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char *value;
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} string_configs[3] {
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{ "FMT", config.format },
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{ "BAUD", config.baud },
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{ "LBE", config.lbe },
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};
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const struct {
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const char *name;
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int *value;
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} integer_configs[6] {
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{ "FRQ", &config.frq },
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{ "AUT", &config.aut },
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{ "MAVG", &config.mavg },
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{ "MEDF", &config.medf },
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{ "AVG", &config.avg },
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{ "AUV", &config.auv },
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};
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char _buffer[256]; // from-autopilot
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uint8_t _buflen;
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};
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}
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