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58 lines
2.0 KiB
58 lines
2.0 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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Base class for serial rangefinders |
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*/ |
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#include "SIM_SerialRangeFinder.h" |
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using namespace SITL; |
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void SerialRangeFinder::update(float range) |
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{ |
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// just send a chunk of data at 5Hz: |
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const uint32_t now = AP_HAL::millis(); |
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if (now - last_sent_ms < reading_interval_ms()) { |
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return; |
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} |
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last_sent_ms = now; |
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const uint16_t range_cm = uint16_t(range*100); |
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uint8_t data[255]; |
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const uint32_t packetlen = packet_for_alt(range_cm, |
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data, |
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ARRAY_SIZE(data)); |
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write_to_autopilot((char*)data, packetlen); |
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if (has_temperature()) { |
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send_temperature(); |
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} |
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} |
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void SerialRangeFinder::send_temperature() |
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{ |
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// Use the simple underwater model to get temperature |
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float rho, delta, theta; |
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AP_Baro::SimpleUnderWaterAtmosphere(-0.5 * 0.001, rho, delta, theta); // get simulated temperature for 0.5m depth |
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const float temperature = Aircraft::rand_normal(KELVIN_TO_C(SSL_AIR_TEMPERATURE * theta), 1); // FIXME pick a stddev based on data sheet |
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uint8_t data[255]; |
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const uint32_t packetlen = packet_for_temperature(temperature, |
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data, |
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ARRAY_SIZE(data)); |
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write_to_autopilot((char*)data, packetlen); |
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}
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