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https://github.com/ArduPilot/ardupilot.git
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Peter BarkerandClaude Opus 4.8
cf0ca15c5e
Simulates a NoopLoop (LinkTrack) UWB positioning beacon on a serial port, emitting SETTING_FRAME0 (anchor positions) and NODE_FRAME2 (tag position and per-anchor ranges) frames for AP_Beacon_Nooploop to parse. Attach with "--serial5=sim:nooploop". Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
/*
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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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Base class for serially-attached simulated positioning beacons
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*/
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#pragma once
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#include "SIM_config.h"
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#if AP_SIM_NOOPLOOP_ENABLED // currently the only serial beacon
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#include "SIM_SerialDevice.h"
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#include <AP_Math/AP_Math.h>
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namespace SITL {
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class SerialBeacon : public SerialDevice {
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public:
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SerialBeacon() {}
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// update; works out the vehicle's position relative to the beacon
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// origin and sends beacon data to the autopilot:
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void update();
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protected:
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// send beacon data describing the supplied vehicle position (in NED
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// metres relative to the beacon origin); implemented per beacon type:
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virtual void send_data(const Vector3f &pos_ned) = 0;
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virtual uint16_t reading_interval_ms() const { return 200; } // 5Hz default
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private:
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uint32_t last_sent_ms;
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};
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}
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#endif // AP_SIM_NOOPLOOP_ENABLED
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