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89 lines
2.2 KiB
89 lines
2.2 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 Wasp serial rangefinder |
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:wasp --speedup=1 |
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param set SERIAL5_PROTOCOL 9 |
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param set RNGFND1_TYPE 18 |
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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_SerialRangeFinder.h" |
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namespace SITL { |
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class RF_Wasp : public SerialRangeFinder { |
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public: |
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void update(float range) override; |
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uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override; |
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// 20Hz; if Wasp driver doesn't get a reading each time its update |
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// is called it goes NoData |
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uint16_t reading_interval_ms() const override { return 50; } |
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private: |
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void check_configuration(); |
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struct { |
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bool go; |
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char format[16]; // e.g. ASCII |
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char baud[5]; // low or high |
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char lbe[7]; // big or little |
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int frq; |
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int aut; |
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int mavg; |
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int medf; |
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int avg; |
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int auv; |
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} config; |
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const struct { |
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const char *name; |
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char *value; |
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} string_configs[3] { |
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{ "FMT", config.format }, |
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{ "BAUD", config.baud }, |
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{ "LBE", config.lbe }, |
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}; |
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const struct { |
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const char *name; |
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int *value; |
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} integer_configs[6] { |
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{ "FRQ", &config.frq }, |
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{ "AUT", &config.aut }, |
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{ "MAVG", &config.mavg }, |
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{ "MEDF", &config.medf }, |
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{ "AVG", &config.avg }, |
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{ "AUV", &config.auv }, |
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}; |
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char _buffer[256]; // from-autopilot |
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uint8_t _buflen; |
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}; |
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}
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