Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   Simulator for the RPLidar S2 proximity sensor
      17             : 
      18             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidars2 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
      19             : 
      20             : param set SERIAL5_PROTOCOL 11
      21             : param set PRX1_TYPE 5
      22             : reboot
      23             : 
      24             : arm throttle
      25             : rc 3 1600
      26             : 
      27             : # for avoidance:
      28             : param set DISARM_DELAY 0
      29             : param set AVOID_ENABLE 2     # use proximity sensor
      30             : param set AVOID_MARGIN 2.00  # 2m
      31             : param set AVOID_BEHAVE 0     # slide
      32             : param set OA_DB_OUTPUT 3
      33             : param set OA_TYPE 2
      34             : reboot
      35             : mode loiter
      36             : script /tmp/post-locations.scr
      37             : arm throttle
      38             : rc 3 1600
      39             : rc 3 1500
      40             : rc 2 1450
      41             : */
      42             : 
      43             : #pragma once
      44             : 
      45             : #include "SIM_config.h"
      46             : 
      47             : #if AP_SIM_PS_RPLIDARS2_ENABLED
      48             : 
      49             : #include "SIM_PS_RPLidar.h"
      50             : 
      51             : namespace SITL {
      52             : 
      53             : class PS_RPLidarS2 : public PS_RPLidar {
      54             : public:
      55           1 :     uint8_t device_info_model() const override { return 0x71; }
      56      135520 :     uint8_t max_range() const override { return 50; }
      57             : };
      58             : 
      59             : }
      60             : 
      61             : #endif  // AP_SIM_PS_RPLIDARS2_ENABLED