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48 lines
1.4 KiB
48 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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Simulator for the Benewake TF02 RangeFinder |
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:benewake_tf02 --speedup=1 |
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param set SERIAL5_PROTOCOL 9 |
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param set RNGFND1_TYPE 19 |
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graph RANGEFINDER.distance |
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graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance |
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reboot |
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arm throttle |
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rc 3 1600 |
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*/ |
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#pragma once |
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#include "SIM_RF_Benewake.h" |
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namespace SITL { |
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class RF_Benewake_TF02 : public RF_Benewake { |
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public: |
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// see AP_RangeFinder_Benewake.cpp for definitions |
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uint8_t byte4() const override { return 1; } // strength low-bits |
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uint8_t byte5() const override { return 1; } // strength high-bits |
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uint8_t byte6() const override { return 7; } // reliability |
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uint8_t byte7() const override { return 0x06; } // exposure time |
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}; |
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}
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