mirror of https://github.com/ArduPilot/ardupilot
59 lines
2.0 KiB
C++
59 lines
2.0 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 serial rangefinders
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*/
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#include "SIM_SerialRangeFinder.h"
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using namespace SITL;
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void SerialRangeFinder::update(float range)
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{
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// just send a chunk of data at 5Hz:
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const uint32_t now = AP_HAL::millis();
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if (now - last_sent_ms < reading_interval_ms()) {
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return;
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}
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last_sent_ms = now;
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const uint16_t range_cm = uint16_t(range*100);
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uint8_t data[255];
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const uint32_t packetlen = packet_for_alt(range_cm,
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data,
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ARRAY_SIZE(data));
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write_to_autopilot((char*)data, packetlen);
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if (has_temperature()) {
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send_temperature();
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}
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}
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void SerialRangeFinder::send_temperature()
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{
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// Use the simple underwater model to get temperature
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float rho, delta, theta;
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AP_Baro::SimpleUnderWaterAtmosphere(-0.5 * 0.001, rho, delta, theta); // get simulated temperature for 0.5m depth
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const float temperature = Aircraft::rand_normal(KELVIN_TO_C(SSL_AIR_TEMPERATURE * theta), 1); // FIXME pick a stddev based on data sheet
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uint8_t data[255];
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const uint32_t packetlen = packet_for_temperature(temperature,
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data,
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ARRAY_SIZE(data));
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write_to_autopilot((char*)data, packetlen);
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}
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