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81 lines
2.4 KiB
81 lines
2.4 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 TeraRangerTower proximity sensor |
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*/ |
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#include "SIM_PS_TeraRangerTower.h" |
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#if HAL_SIM_PS_TERARANGERTOWER_ENABLED |
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#include <GCS_MAVLink/GCS.h> |
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#include <AP_HAL/utility/sparse-endian.h> |
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#include <stdio.h> |
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#include <errno.h> |
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using namespace SITL; |
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uint32_t PS_TeraRangerTower::packet_for_location(const Location &location, |
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uint8_t *data, |
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uint8_t buflen) |
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{ |
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return 0; |
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} |
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void PS_TeraRangerTower::update_output(const Location &location) |
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{ |
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const uint32_t now = AP_HAL::millis(); |
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if (last_output_time_ms == 0) { |
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last_output_time_ms = now; |
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return; |
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} |
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const uint32_t time_delta = now - last_output_time_ms; |
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if (time_delta < 200) { // 5Hz update |
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return; |
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} |
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last_output_time_ms = now; |
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struct PACKED { |
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uint8_t HEADER1{'T'}; |
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uint8_t HEADER2{'H'}; |
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uint16_t measurements[8]; |
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uint8_t checksum; |
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} send_buffer; |
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for (uint8_t i=0; i<8; i++) { |
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const uint16_t bf_angle = (360 - (i * 45)) % 360; |
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float distance = measure_distance_at_angle_bf(location, bf_angle); |
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// ::fprintf(stderr, "SIM: %f=%fm\n", current_degrees_bf, distance); |
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if (distance > MAX_RANGE) { |
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send_buffer.measurements[i] = 0xffff; |
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} else { |
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send_buffer.measurements[i] = htobe16(distance * 1000); |
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} |
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} |
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send_buffer.checksum = crc_crc8((uint8_t*)&send_buffer, 18); |
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const ssize_t ret = write_to_autopilot((const char*)&send_buffer, sizeof(send_buffer)); |
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if (ret != sizeof(send_buffer)) { |
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abort(); |
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} |
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} |
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void PS_TeraRangerTower::update(const Location &location) |
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{ |
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update_output(location); |
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} |
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#endif // HAL_SIM_PS_TERARANGERTOWER_ENABLED
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