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46 lines
1.4 KiB
46 lines
1.4 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Base class for serial proximity sensors |
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*/ |
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#include "SIM_SerialProximitySensor.h" |
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#if HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED |
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#include <AP_Math/AP_Math.h> |
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#include <stdio.h> |
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using namespace SITL; |
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void SerialProximitySensor::update(const Location &location) |
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{ |
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// just send a chunk of data at 5Hz: |
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const uint32_t now = AP_HAL::millis(); |
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if (now - last_sent_ms < reading_interval_ms()) { |
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return; |
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} |
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last_sent_ms = now; |
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uint8_t data[255]; |
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const uint32_t packetlen = packet_for_location(location, |
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data, |
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ARRAY_SIZE(data)); |
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write_to_autopilot((char*)data, packetlen); |
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} |
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#endif // HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED
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