diff --git a/libraries/AP_HAL/SIMState.cpp b/libraries/AP_HAL/SIMState.cpp index a0a3a82c68..3a76e7d6f8 100644 --- a/libraries/AP_HAL/SIMState.cpp +++ b/libraries/AP_HAL/SIMState.cpp @@ -145,6 +145,9 @@ void SIMState::fdm_input_local(void) if (benewake_tfmini != nullptr) { benewake_tfmini->update(sitl_model->rangefinder_range()); } + if (nooploop != nullptr) { + nooploop->update(sitl_model->rangefinder_range()); + } if (teraranger_serial != nullptr) { teraranger_serial->update(sitl_model->rangefinder_range()); } diff --git a/libraries/AP_HAL/SIMState.h b/libraries/AP_HAL/SIMState.h index 3d420963de..86ab3ce0b8 100644 --- a/libraries/AP_HAL/SIMState.h +++ b/libraries/AP_HAL/SIMState.h @@ -13,6 +13,7 @@ #include #include #include +#include #include #include #include @@ -127,6 +128,8 @@ private: SITL::RF_Benewake_TF03 *benewake_tf03; // simulated Benewake tfmini rangefinder: SITL::RF_Benewake_TFmini *benewake_tfmini; + //simulated NoopLoop TOFSense rangefinder: + SITL::RF_Nooploop *nooploop; // simulated TeraRangerSerial rangefinder: SITL::RF_TeraRanger_Serial *teraranger_serial;