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 NMEA serial rangefinder
      17             : 
      18             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:nmea --speedup=1
      19             : 
      20             : param set SERIAL5_PROTOCOL 9
      21             : param set SERIAL5_BAUD 9600
      22             : param set RNGFND1_TYPE 17
      23             : graph RANGEFINDER.distance
      24             : graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
      25             : reboot
      26             : 
      27             : arm throttle
      28             : rc 3 1600
      29             : */
      30             : 
      31             : #pragma once
      32             : 
      33             : #include "SIM_SerialRangeFinder.h"
      34             : 
      35             : namespace SITL {
      36             : 
      37             : class RF_NMEA : public SerialRangeFinder {
      38             : public:
      39             : 
      40           3 :     static SerialRangeFinder *create() { return NEW_NOTHROW RF_NMEA(); }
      41             : 
      42      949026 :     uint32_t device_baud() const override { return 9600; }
      43             : 
      44             :     uint32_t packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen) override;
      45             : 
      46        1583 :     bool has_temperature() const override { return true; }
      47             :     uint32_t packet_for_temperature(float temperature, uint8_t *buffer, uint8_t buflen) override;
      48             : 
      49             : private:
      50             : 
      51             : };
      52             : 
      53             : }