From 89d4ba6a5dda9f55e64287d0c25a304cae9e67ec Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Sat, 17 Jun 2023 00:01:26 +0530
Subject: [PATCH] AP_HAL: add simulated nooploop tofsense rangefinder

---
 libraries/AP_HAL/SIMState.cpp | 3 +++
 libraries/AP_HAL/SIMState.h   | 3 +++
 2 files changed, 6 insertions(+)

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 <SITL/SIM_RF_Benewake_TF02.h>
 #include <SITL/SIM_RF_Benewake_TF03.h>
 #include <SITL/SIM_RF_Benewake_TFmini.h>
+#include <SITL/SIM_RF_NoopLoop.h>
 #include <SITL/SIM_RF_TeraRanger_Serial.h>
 #include <SITL/SIM_RF_LightWareSerial.h>
 #include <SITL/SIM_RF_LightWareSerialBinary.h>
@@ -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;