From 4c24b89dde27f53f9c14e98fcde6835bac828a77 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Mon, 1 Aug 2022 18:44:01 -0500
Subject: [PATCH] AP_HAL: add TeraRange Neo Rangefinder

---
 libraries/AP_HAL/SIMState.cpp | 3 +++
 libraries/AP_HAL/SIMState.h   | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_HAL/SIMState.cpp b/libraries/AP_HAL/SIMState.cpp
index 5562154a64..8dda977bde 100644
--- a/libraries/AP_HAL/SIMState.cpp
+++ b/libraries/AP_HAL/SIMState.cpp
@@ -116,6 +116,9 @@ void SIMState::fdm_input_local(void)
     if (benewake_tfmini != nullptr) {
         benewake_tfmini->update(sitl_model->rangefinder_range());
     }
+    if (teraranger_serial != nullptr) {
+        teraranger_serial->update(sitl_model->rangefinder_range());
+    }
     if (lightwareserial != nullptr) {
         lightwareserial->update(sitl_model->rangefinder_range());
     }
diff --git a/libraries/AP_HAL/SIMState.h b/libraries/AP_HAL/SIMState.h
index 02f2028dc0..5275b8b4d3 100644
--- a/libraries/AP_HAL/SIMState.h
+++ b/libraries/AP_HAL/SIMState.h
@@ -13,6 +13,7 @@
 #include <SITL/SIM_RF_Benewake_TF02.h>
 #include <SITL/SIM_RF_Benewake_TF03.h>
 #include <SITL/SIM_RF_Benewake_TFmini.h>
+#include <SITL/SIM_RF_TeraRanger_Serial.h>
 #include <SITL/SIM_RF_LightWareSerial.h>
 #include <SITL/SIM_RF_LightWareSerialBinary.h>
 #include <SITL/SIM_RF_Lanbao.h>
@@ -127,6 +128,8 @@ private:
     SITL::RF_Benewake_TF03 *benewake_tf03;
     // simulated Benewake tfmini rangefinder:
     SITL::RF_Benewake_TFmini *benewake_tfmini;
+    // simulated TeraRangerSerial rangefinder:
+    SITL::RF_TeraRanger_Serial *teraranger_serial;
 
     // simulated LightWareSerial rangefinder - legacy protocol::
     SITL::RF_LightWareSerial *lightwareserial;