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 TFMini RangeFinder
      17             : 
      18             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:benewake_tfmini --speedup=1
      19             : 
      20             : param set SERIAL5_PROTOCOL 9
      21             : param set RNGFND1_TYPE 20
      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             : 
      30             : #pragma once
      31             : 
      32             : #include "SIM_RF_Benewake.h"
      33             : 
      34             : namespace SITL {
      35             : 
      36             : class RF_Benewake_TFmini : public RF_Benewake {
      37             : public:
      38             : 
      39           1 :     static SerialRangeFinder *create() { return NEW_NOTHROW RF_Benewake_TFmini(); }
      40             : 
      41             :     // see AP_RangeFinder_Benewake.cpp for definitions
      42         353 :     uint8_t byte4() const override { return 1; } // strength L
      43         353 :     uint8_t byte5() const override { return 1; } // strength H
      44         353 :     uint8_t byte6() const override { return 0x07; } // distance mode (0x02=mm 0x07=cm)
      45         353 :     uint8_t byte7() const override { return 0; } // TF02 only
      46             : 
      47             : };
      48             : 
      49             : }