AP_HAL_SITL: add TeraRange Neo Rangefinder

libraries/AP_HAL_SITL/SITL_State.cpp

@@ -236,6 +236,12 @@ SITL::SerialDevice *SITL_State::create_serial_sim(const char *name, const char *
         }
         benewake_tfmini = new SITL::RF_Benewake_TFmini();
         return benewake_tfmini;
+    } else if (streq(name, "teraranger_serial")) {
+        if (teraranger_serial != nullptr) {
+            AP_HAL::panic("Only one teraranger_serial at a time");
+        }
+        teraranger_serial = new SITL::RF_TeraRanger_Serial();
+        return teraranger_serial;
     } else if (streq(name, "lightwareserial")) {
         if (lightwareserial != nullptr) {
             AP_HAL::panic("Only one lightwareserial at a time");
@@ -567,6 +573,9 @@ void SITL_State::_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());
     }

libraries/AP_HAL_SITL/SITL_State.h

@@ -31,6 +31,7 @@
 #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>
@@ -212,6 +213,8 @@ private:
     SITL::RF_Benewake_TF03 *benewake_tf03;
     // simulated Benewake tfmini rangefinder:
     SITL::RF_Benewake_TFmini *benewake_tfmini;
+    // simulated TeraRanger Serial:
+    SITL::RF_TeraRanger_Serial *teraranger_serial;
 
     // simulated LightWareSerial rangefinder - legacy protocol::
     SITL::RF_LightWareSerial *lightwareserial;