AP_HAL_SITL: add simulated GY-US42-v2 rangefinder

libraries/AP_HAL_SITL/SITL_State.cpp

@@ -351,6 +351,12 @@ int SITL_State::sim_fd(const char *name, const char *arg)
     } else if (streq(name, "richenpower")) {
         sitl_model->set_richenpower(&_sitl->richenpower_sim);
         return _sitl->richenpower_sim.fd();
+    } else if (streq(name, "gyus42v2")) {
+        if (gyus42v2 != nullptr) {
+            AP_HAL::panic("Only one gyus42v2 at a time");
+        }
+        gyus42v2 = new SITL::RF_GYUS42v2();
+        return gyus42v2->fd();
     }
 
     AP_HAL::panic("unknown simulated device: %s", name);
@@ -444,6 +450,11 @@ int SITL_State::sim_fd_write(const char *name)
         return rplidara2->write_fd();
     } else if (streq(name, "richenpower")) {
         return _sitl->richenpower_sim.write_fd();
+    } else if (streq(name, "gyus42v2")) {
+        if (gyus42v2 == nullptr) {
+            AP_HAL::panic("No gyus42v2 created");
+        }
+        return gyus42v2->write_fd();
     }
     AP_HAL::panic("unknown simulated device: %s", name);
 }
@@ -624,6 +635,9 @@ void SITL_State::_fdm_input_local(void)
     if (rf_mavlink != nullptr) {
         rf_mavlink->update(sitl_model->get_range());
     }
+    if (gyus42v2 != nullptr) {
+        gyus42v2->update(sitl_model->get_range());
+    }
 
     if (frsky_d != nullptr) {
         frsky_d->update();

libraries/AP_HAL_SITL/SITL_State.h

@@ -38,6 +38,7 @@
 #include <SITL/SIM_RF_Wasp.h>
 #include <SITL/SIM_RF_NMEA.h>
 #include <SITL/SIM_RF_MAVLink.h>
+#include <SITL/SIM_RF_GYUS42v2.h>
 
 #include <SITL/SIM_Frsky_D.h>
 // #include <SITL/SIM_Frsky_SPort.h>
@@ -273,6 +274,8 @@ private:
     SITL::RF_NMEA *nmea;
     // simulated MAVLink rangefinder:
     SITL::RF_MAVLink *rf_mavlink;
+    // simulated GYUS42v2 rangefinder:
+    SITL::RF_GYUS42v2 *gyus42v2;
 
     // simulated Frsky devices
     SITL::Frsky_D *frsky_d;