mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
Simulator for the RPLidarA2 proximity sensor
|
|
|
|
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidara1 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
|
|
|
|
param set SERIAL5_PROTOCOL 11
|
|
param set PRX1_TYPE 5
|
|
reboot
|
|
|
|
arm throttle
|
|
rc 3 1600
|
|
|
|
# for avoidance:
|
|
param set DISARM_DELAY 0
|
|
param set AVOID_ENABLE 2 # use proximity sensor
|
|
param set AVOID_MARGIN 2.00 # 2m
|
|
param set AVOID_BEHAVE 0 # slide
|
|
param set OA_DB_OUTPUT 3
|
|
param set OA_TYPE 2
|
|
reboot
|
|
mode loiter
|
|
script /tmp/post-locations.scr
|
|
arm throttle
|
|
rc 3 1600
|
|
rc 3 1500
|
|
rc 2 1450
|
|
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "SIM_config.h"
|
|
|
|
#if HAL_SIM_PS_RPLIDARA1_ENABLED
|
|
|
|
#include "SIM_PS_RPLidar.h"
|
|
|
|
namespace SITL {
|
|
|
|
class PS_RPLidarA1 : public PS_RPLidar {
|
|
public:
|
|
uint8_t device_info_model() const override { return 0x18; }
|
|
uint8_t max_range() const override { return 8.0f; };
|
|
};
|
|
|
|
}
|
|
|
|
#endif // HAL_SIM_PS_RPLIDARA1_ENABLED
|