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39 lines
1.1 KiB
39 lines
1.1 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 Lanbao rangefinder |
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*/ |
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#include "SIM_RF_Lanbao.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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uint32_t RF_Lanbao::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) |
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{ |
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buffer[0] = 0xA5; |
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buffer[1] = 0x5A; |
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buffer[2] = (alt_cm * 10) >> 8; |
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buffer[3] = (alt_cm * 10) & 0xff; |
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const uint16_t crc = calc_crc_modbus(buffer, 4); |
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buffer[4] = crc & 0xff; |
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buffer[5] = crc >> 8; |
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return 6; |
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}
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