SITL: added support for laser scanner for Morse

libraries/SITL/SIM_Aircraft.cpp

@@ -394,6 +394,10 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
     memcpy(fdm.rcin, rcin, rcin_chan_count * sizeof(float));
     fdm.bodyMagField = mag_bf;
 
+    // copy laser scanner results
+    fdm.scanner.points = scanner.points;
+    fdm.scanner.ranges = scanner.ranges;
+
     if (smoothing.enabled) {
         fdm.xAccel = smoothing.accel_body.x;
         fdm.yAccel = smoothing.accel_body.y;

libraries/SITL/SIM_Aircraft.h

@@ -142,6 +142,12 @@ protected:
     float rcin[8];
     float range = -1.0f;                 // rangefinder detection in m
 
+    struct {
+        // data from simulated laser scanner, if available
+        struct vector3f_array points;
+        struct float_array ranges;
+    } scanner;
+    
     // Wind Turbulence simulated Data
     float turbulence_azimuth = 0.0f;
     float turbulence_horizontal_speed = 0.0f;  // m/s

libraries/SITL/SIM_Morse.cpp

@@ -449,6 +449,10 @@ void Morse::update(const struct sitl_input &input)
     accel_body.y = constrain_float(accel_body.y, -a_limit, a_limit);
     accel_body.z = constrain_float(accel_body.z, -a_limit, a_limit);
 
+    // fill in laser scanner results, if available
+    scanner.points = state.scanner.points;
+    scanner.ranges = state.scanner.ranges;
+
     // offset based on first position to account for offset in morse world
     if (position_offset.is_zero()) {
         position_offset = position;

libraries/SITL/SIM_Morse.h

@@ -60,7 +60,7 @@ private:
     void report_FPS();
 
     // buffer for parsing pose data in JSON format
-    uint8_t sensor_buffer[4096];
+    uint8_t sensor_buffer[50000];
     uint32_t sensor_buffer_len;
 
     SocketAPM *sensors_sock;