mirror of
https://github.com/ArduPilot/ardupilot.git
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Peter Barker
730eafcf65
allows for better precision for mm-capable devices allows for higher altitudes than 655.35 metres
41 lines
1.3 KiB
C++
41 lines
1.3 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 simulator for the TeraRanger Serial RangeFinders
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*/
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#include "SIM_RF_TeraRanger_Serial.h"
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using namespace SITL;
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uint32_t RF_TeraRanger_Serial::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
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{
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const uint16_t alt_mm = alt_m * 1000;
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buffer[0] = 0x54; //header byte
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buffer[1] = alt_mm >> 8; //MSB mm
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buffer[2] = alt_mm & 0xff; //LSB mm
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if (alt_m > 30) {
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buffer[3] = 0xC4; //full strength, out of range, no overtemp
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}
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else {
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buffer[3] = 0xC0; //full strength, no reading error, no overtemp
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}
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// calculate CRC8:
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buffer[4] = crc_crc8(buffer,4);;
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return 5;
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}
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