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AP_HAL_SITL: add simulator for RDS02UF rangefinder

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Peter Barker 2023-05-13 11:24:27 +10:00 committed by Peter Barker
parent 6943ea59b1
commit 4ed4c2d554
2 changed files with 12 additions and 0 deletions
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9
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -295,6 +295,12 @@ SITL::SerialDevice *SITL_State::create_serial_sim(const char *name, const char *
} }
leddarone = new SITL::RF_LeddarOne(); leddarone = new SITL::RF_LeddarOne();
return leddarone; return leddarone;
} else if (streq(name, "rds02uf")) {
if (rds02uf != nullptr) {
AP_HAL::panic("Only one rds02uf at a time");
}
rds02uf = new SITL::RF_RDS02UF();
return rds02uf;
} else if (streq(name, "USD1_v0")) { } else if (streq(name, "USD1_v0")) {
if (USD1_v0 != nullptr) { if (USD1_v0 != nullptr) {
AP_HAL::panic("Only one USD1_v0 at a time"); AP_HAL::panic("Only one USD1_v0 at a time");
@ -622,6 +628,9 @@ void SITL_State::_fdm_input_local(void)
if (leddarone != nullptr) { if (leddarone != nullptr) {
leddarone->update(sitl_model->rangefinder_range()); leddarone->update(sitl_model->rangefinder_range());
} }
if (rds02uf != nullptr) {
rds02uf->update(sitl_model->rangefinder_range());
}
if (USD1_v0 != nullptr) { if (USD1_v0 != nullptr) {
USD1_v0->update(sitl_model->rangefinder_range()); USD1_v0->update(sitl_model->rangefinder_range());
} }

3
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -37,6 +37,7 @@
#include <SITL/SIM_RF_Lanbao.h> #include <SITL/SIM_RF_Lanbao.h>
#include <SITL/SIM_RF_BLping.h> #include <SITL/SIM_RF_BLping.h>
#include <SITL/SIM_RF_LeddarOne.h> #include <SITL/SIM_RF_LeddarOne.h>
#include <SITL/SIM_RF_RDS02UF.h>
#include <SITL/SIM_RF_USD1_v0.h> #include <SITL/SIM_RF_USD1_v0.h>
#include <SITL/SIM_RF_USD1_v1.h> #include <SITL/SIM_RF_USD1_v1.h>
#include <SITL/SIM_RF_MaxsonarSerialLV.h> #include <SITL/SIM_RF_MaxsonarSerialLV.h>
@ -226,6 +227,8 @@ private:
SITL::RF_BLping *blping; SITL::RF_BLping *blping;
// simulated LeddarOne rangefinder: // simulated LeddarOne rangefinder:
SITL::RF_LeddarOne *leddarone; SITL::RF_LeddarOne *leddarone;
// simulated RDS02UF rangefinder:
SITL::RF_RDS02UF *rds02uf;
// simulated USD1 v0 rangefinder: // simulated USD1 v0 rangefinder:
SITL::RF_USD1_v0 *USD1_v0; SITL::RF_USD1_v0 *USD1_v0;
// simulated USD1 v1 rangefinder: // simulated USD1 v1 rangefinder: