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67 lines
1.7 KiB
67 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 TeraRangerTower proximity sensor |
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:terarangertower --speedup=1 -l 51.8752066,14.6487840,0,0 |
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param set SERIAL5_PROTOCOL 11 |
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param set PRX_TYPE 3 # terarangertower |
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reboot |
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arm throttle |
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rc 3 1600 |
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# for avoidance: |
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param set DISARM_DELAY 0 |
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param set AVOID_ENABLE 2 # use proximity sensor |
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param set AVOID_MARGIN 2.00 # 2m |
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param set AVOID_BEHAVE 0 # slide |
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reboot |
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mode loiter |
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script /tmp/post-locations.scr |
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arm throttle |
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rc 3 1600 |
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rc 3 1500 |
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rc 2 1450 |
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*/ |
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#pragma once |
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#include "SIM_SerialProximitySensor.h" |
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#include <stdio.h> |
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namespace SITL { |
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class PS_TeraRangerTower : public SerialProximitySensor { |
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public: |
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uint32_t packet_for_location(const Location &location, |
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uint8_t *data, |
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uint8_t buflen) override; |
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void update(const Location &location) override; |
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void update_output(const Location &location); |
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void update_output_scan(const Location &location); |
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private: |
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const float MAX_RANGE = 4.5; // metres |
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uint32_t last_output_time_ms; |
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}; |
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};
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