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AP_SerialManager: Add support for Aerotenna uLanding radar altimeter

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This commit is contained in:
davidaroyer 2016-11-14 15:46:11 -06:00 committed by Randy Mackay
parent 22517422f9
commit faa534cf64
2 changed files with 14 additions and 0 deletions
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7
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -199,6 +199,13 @@ void AP_SerialManager::init()
AP_SERIALMANAGER_SToRM32_BUFSIZE_RX,
AP_SERIALMANAGER_SToRM32_BUFSIZE_TX);
break;
case SerialProtocol_Aerotenna_uLanding:
// Note baudrate is hardcoded to 115200
state[i].baud = AP_SERIALMANAGER_ULANDING_BAUD / 1000; // update baud param in case user looks at it
state[i].uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_ULANDING_BUFSIZE_RX,
AP_SERIALMANAGER_ULANDING_BUFSIZE_TX);
break;
}
}
}

7
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -63,6 +63,12 @@
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_RX 128
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_TX 128
// Aerotenne uLanding Altimeter
// Note that size of UART FIFO is 128 for Altera-OcPoc board
#define AP_SERIALMANAGER_ULANDING_BAUD 115200
#define AP_SERIALMANAGER_ULANDING_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ULANDING_BUFSIZE_TX 128
class AP_SerialManager {
@ -82,6 +88,7 @@ public:
SerialProtocol_Lidar = 9,
SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
SerialProtocol_Lidar360 = 11,
SerialProtocol_Aerotenna_uLanding = 12, // Ulanding support
};
// Constructor