mirror of https://github.com/ArduPilot/ardupilot
35 lines
1.1 KiB
C++
35 lines
1.1 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 serial LightWare rangefinder - binary mode
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*/
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#include "SIM_RF_LightWareSerialBinary.h"
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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using namespace SITL;
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uint32_t RF_LightWareSerialBinary::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
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{
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// high byte is second 7 bits but high bit set
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buffer[0] = ((alt_cm >> 7) & 0x7f) | (1<<7);
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// low byte is just first 7 bits
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buffer[1] = alt_cm & 0x7f;
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return 2;
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}
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