AP_Periph: added RNGFND_BAUDRATE

allows control of rangefinder baudrate

Tools/AP_Periph/AP_Periph.cpp

@@ -120,6 +120,9 @@ void AP_Periph_FW::init()
 #endif
 
 #ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+    const uint8_t sernum = 3; // uartB
+    hal.uartB->begin(g.rangefinder_baud);
+    serial_manager.set_protocol_and_baud(sernum, AP_SerialManager::SerialProtocol_Rangefinder, g.rangefinder_baud);
     rangefinder.init(ROTATION_NONE);
 #endif
     
@@ -197,6 +200,9 @@ void AP_Periph_FW::update()
 #endif
 #ifdef HAL_PERIPH_ENABLE_BARO
         hal.uartA->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature());
+#endif
+#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+        hal.uartA->printf("RNG %u %ucm\n", rangefinder.num_sensors(), rangefinder.distance_cm_orient(ROTATION_NONE));
 #endif
         hal.scheduler->delay(1);
         show_stack_usage();

Tools/AP_Periph/Parameters.cpp

@@ -70,6 +70,10 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(airspeed, "ARSP", AP_Airspeed),
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+    GSCALAR(rangefinder_baud, "RNGFND_BAUDRATE", 115200),
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_RANGEFINDER
     // Rangefinder driver
     // @Group: RNGFND

Tools/AP_Periph/Parameters.h

@@ -22,6 +22,7 @@ public:
         k_param_airspeed,
         k_param_rangefinder,
         k_param_flash_bootloader,
+        k_param_rangefinder_baud,
     };
 
     AP_Int16 format_version;
@@ -38,6 +39,9 @@ public:
     AP_Int8 flash_bootloader;
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
+    AP_Int32 rangefinder_baud;
+#endif
     Parameters() {}
 };