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 DTS6012M serial rangefinder
      17             : 
      18             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:dts6012m --speedup=1
      19             : 
      20             : param set SERIAL5_PROTOCOL 9
      21             : param set RNGFND1_TYPE 47
      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             : 
      31             : #pragma once
      32             : 
      33             : #include "SIM_config.h"
      34             : 
      35             : #if AP_SIM_RF_DTS6012M_ENABLED
      36             : 
      37             : #include "SIM_SerialRangeFinder.h"
      38             : 
      39             : 
      40             : namespace SITL {
      41             : 
      42             : class RF_DTS6012M : public SerialRangeFinder {
      43             : public:
      44             : 
      45           1 :     static SerialRangeFinder *create() { return NEW_NOTHROW RF_DTS6012M(); }
      46             : 
      47             :     uint32_t packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen) override;
      48             : 
      49       85876 :     uint16_t reading_interval_ms() const override { return 100; }  // (Downsampled to 100 for 10Hz, sensor capable of 10 for 100Hz)
      50             : 
      51             : };
      52             : 
      53             : }
      54             : 
      55             : #endif  // AP_SIM_RF_DTS6012M_ENABLED