SITL: Airsim: Add support for rangefinder sensor data

Also increase RC channels to 12

libraries/SITL/SIM_AirSim.cpp

@@ -323,11 +323,18 @@ void AirSim::recv_fdm(const sitl_input& input)
 
     scanner.points = state.lidar.points;
 
-    rcin_chan_count = state.rc.rc_channels.length < 8 ? state.rc.rc_channels.length : 8;
+    // Update RC input, max 12 channels
+    rcin_chan_count = MIN(state.rc.rc_channels.length, 12);
     for (uint8_t i=0; i < rcin_chan_count; i++) {
         rcin[i] = state.rc.rc_channels.data[i];
     }
 
+    // Update Rangefinder data, max sensors limit as defined
+    uint8_t rng_sensor_count = MIN(state.rng.rng_distances.length, RANGEFINDER_MAX_INSTANCES);
+    for (uint8_t i=0; i<rng_sensor_count; i++) {
+        rangefinder_m[i] = state.rng.rng_distances.data[i];
+    }
+
 #if 0
 // @LoggerMessage: ASM1
 // @Description: AirSim simulation data

libraries/SITL/SIM_AirSim.h

@@ -121,6 +121,9 @@ private:
         struct {
             struct float_array rc_channels;
         } rc;
+        struct {
+            struct float_array rng_distances;
+        } rng;
     } state;
 
     // table to aid parsing of JSON sensor data
@@ -129,7 +132,7 @@ private:
         const char *key;
         void *ptr;
         enum data_type type;
-    } keytable[12] = {
+    } keytable[13] = {
         { "", "timestamp", &state.timestamp, DATA_UINT64 },
         { "imu", "angular_velocity",    &state.imu.angular_velocity, DATA_VECTOR3F },
         { "imu", "linear_acceleration", &state.imu.linear_acceleration, DATA_VECTOR3F },
@@ -142,6 +145,7 @@ private:
         { "velocity", "world_linear_velocity", &state.velocity.world_linear_velocity, DATA_VECTOR3F },
         { "lidar", "point_cloud", &state.lidar.points, DATA_VECTOR3F_ARRAY },
         { "rc", "channels", &state.rc.rc_channels, DATA_FLOAT_ARRAY },
+        { "rng", "distances", &state.rng.rng_distances, DATA_FLOAT_ARRAY },
     };
 };