mirror of https://github.com/ArduPilot/ardupilot
68 lines
1.7 KiB
C++
68 lines
1.7 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 TeraRangerTower proximity sensor
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:terarangertower --speedup=1 -l 51.8752066,14.6487840,0,0
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param set SERIAL5_PROTOCOL 11
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param set PRX_TYPE 3 # terarangertower
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reboot
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arm throttle
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rc 3 1600
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# for avoidance:
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param set DISARM_DELAY 0
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param set AVOID_ENABLE 2 # use proximity sensor
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param set AVOID_MARGIN 2.00 # 2m
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param set AVOID_BEHAVE 0 # slide
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reboot
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mode loiter
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script /tmp/post-locations.scr
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arm throttle
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rc 3 1600
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rc 3 1500
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rc 2 1450
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*/
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#pragma once
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#include "SIM_SerialProximitySensor.h"
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#include <stdio.h>
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namespace SITL {
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class PS_TeraRangerTower : public SerialProximitySensor {
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public:
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uint32_t packet_for_location(const Location &location,
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uint8_t *data,
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uint8_t buflen) override;
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void update(const Location &location) override;
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void update_output(const Location &location);
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void update_output_scan(const Location &location);
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private:
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const float MAX_RANGE = 4.5; // metres
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uint32_t last_output_time_ms;
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};
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};
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