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59 lines
1.7 KiB
59 lines
1.7 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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Simulator for the serial LightWare rangefinder |
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*/ |
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#include "SIM_RF_LightWareSerial.h" |
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#include <GCS_MAVLink/GCS.h> |
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#include <stdio.h> |
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using namespace SITL; |
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bool RF_LightWareSerial::check_synced() |
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{ |
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if (!synced) { |
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// just try to slurp a buffer in one hit: |
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char buffer[12] {}; |
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ssize_t n = read_from_autopilot(buffer, ARRAY_SIZE(buffer) - 1); |
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if (n > 0) { |
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if (!strncmp(buffer, "www\r\n", ARRAY_SIZE(buffer))) { |
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Slurped a sync thing\n"); |
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synced = true; |
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} |
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} |
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} |
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return synced; |
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} |
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void RF_LightWareSerial::update(float range) |
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{ |
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if (!check_synced()) { |
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return; |
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} |
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return SerialRangeFinder::update(range); |
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} |
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uint32_t RF_LightWareSerial::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) |
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{ |
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if (alt_cm > 10000) { |
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// out-of-range-high |
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alt_cm = 13000; // from datasheet |
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} |
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return snprintf((char*)buffer, buflen, "%0.2f\r", alt_cm / 100.0f); // note tragic lack of snprintf return checking |
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}
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