SITL: SIM_Aircraft: add rangefinder array

libraries/SITL/SIM_Aircraft.cpp

@@ -83,6 +83,11 @@ Aircraft::Aircraft(const char *frame_str) :
     }
 
     terrain = &AP::terrain();
+
+    // init rangefinder array to -1 to signify no data
+    for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++){
+        rangefinder_m[i] = -1.0f;
+    }
 }
 
 void Aircraft::set_start_location(const Location &start_loc, const float start_yaw)
@@ -374,6 +379,9 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
     fdm.scanner.points = scanner.points;
     fdm.scanner.ranges = scanner.ranges;
 
+    // copy rangefinder
+    memcpy(fdm.rangefinder_m, rangefinder_m, sizeof(fdm.rangefinder_m));
+
     if (is_smoothed) {
         fdm.xAccel = smoothing.accel_body.x;
         fdm.yAccel = smoothing.accel_body.y;

libraries/SITL/SIM_Aircraft.h

@@ -181,7 +181,10 @@ protected:
         struct vector3f_array points;
         struct float_array ranges;
     } scanner;
-    
+
+    // Rangefinder
+    float rangefinder_m[RANGEFINDER_MAX_INSTANCES];
+
     // Wind Turbulence simulated Data
     float turbulence_azimuth = 0.0f;
     float turbulence_horizontal_speed = 0.0f;  // m/s