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 Ainstein LR-D1 serial rangefinder
      17             : 
      18             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:ainsteinlrd1_v19 --speedup=1
      19             : 
      20             : param set SERIAL5_PROTOCOL 9
      21             : param set RNGFND1_TYPE 42
      22             : graph RANGEFINDER.distance
      23             : graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
      24             : reboot
      25             : 
      26             : arm throttle
      27             : rc 3 1600
      28             : 
      29             : # to pass canned data through the simulator:
      30             : /Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=file:libraries/AP_RangeFinder/examples/captures/ainstein_lr-d1.bin --speedup=1
      31             : 
      32             : param set SERIAL5_PROTOCOL 9
      33             : param set RNGFND1_TYPE 42
      34             : reboot
      35             : 
      36             : */
      37             : 
      38             : #pragma once
      39             : 
      40             : #include "SIM_SerialRangeFinder.h"
      41             : 
      42             : namespace SITL {
      43             : 
      44             : class RF_Ainstein_LR_D1_v19 : public SerialRangeFinder {
      45             : public:
      46             : 
      47           1 :     static SerialRangeFinder *create() { return NEW_NOTHROW RF_Ainstein_LR_D1_v19(); }
      48             : 
      49             :     uint32_t packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen) override;
      50             : 
      51      175312 :     uint16_t reading_interval_ms() const override { return 100; }
      52             : 
      53             : private:
      54             : 
      55             : };
      56             : 
      57             : }