SITL: add simulated LightWare serial lidar talking new binary protocol

libraries/SITL/SIM_RF_LightWareSerialBinary.cpp

@@ -0,0 +1,34 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Simulator for the serial LightWare rangefinder - binary mode
+*/
+
+#include "SIM_RF_LightWareSerialBinary.h"
+
+#include <GCS_MAVLink/GCS.h>
+#include <stdio.h>
+
+
+using namespace SITL;
+
+uint32_t RF_LightWareSerialBinary::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
+{
+    // high byte is second 7 bits but high bit set
+    buffer[0] = ((alt_cm >> 7) & 0x7f) | (1<<7);
+    // low byte is just first 7 bits
+    buffer[1] = alt_cm & 0x7f;
+    return 2;
+}

libraries/SITL/SIM_RF_LightWareSerialBinary.h

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+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Simulator for the serial LightWare rangefinder - binary mode
+
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lightwareserial-binary --speedup=1
+
+param set SERIAL5_PROTOCOL 9
+param set RNGFND1_TYPE 8
+graph RANGEFINDER.distance
+graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
+reboot
+
+arm throttle
+rc 3 1600
+*/
+
+#pragma once
+
+#include "SIM_SerialRangeFinder.h"
+
+namespace SITL {
+
+class RF_LightWareSerialBinary : public SerialRangeFinder {
+public:
+
+    uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
+
+};
+
+}