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             :    This program is distributed in the hope that it will be useful,
       7             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       8             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       9             :    GNU General Public License for more details.
      10             :    You should have received a copy of the GNU General Public License
      11             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      12             :  */
      13             : /*
      14             :   Simulator for the TeraRanger NEO RangeFinder
      15             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:teraranger_serial --speedup=1
      16             : param set SERIAL5_PROTOCOL 9
      17             : param set RNGFND1_TYPE 35
      18             : graph RANGEFINDER.distance
      19             : graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
      20             : reboot
      21             : arm throttle
      22             : rc 3 1600
      23             : */
      24             : 
      25             : #pragma once
      26             : 
      27             : #include "SIM_SerialRangeFinder.h"
      28             : 
      29             : namespace SITL {
      30             : 
      31             : class RF_TeraRanger_Serial : public SerialRangeFinder {
      32             : public:
      33             : 
      34           1 :     static SerialRangeFinder *create() { return NEW_NOTHROW RF_TeraRanger_Serial(); }
      35             : 
      36             :     uint32_t packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen) override;
      37             : 
      38             : 
      39             : };
      40             : 
      41             : }