mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Peter Barker
730eafcf65
allows for better precision for mm-capable devices allows for higher altitudes than 655.35 metres
53 lines
1.6 KiB
C++
53 lines
1.6 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 NoopLoop TOFSense-F/P Serial RangeFinders
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*/
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#include "SIM_RF_JRE.h"
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using namespace SITL;
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uint32_t RF_JRE::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
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{
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uint16_t status = 0;
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if (alt_m > 500) {
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status |= 0x2; // NTRK, whatever that means...
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}
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const uint16_t alt_cm = alt_m * 100;
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buffer[0] = 'R';
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buffer[1] = 'A';
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buffer[2] = 0x01;
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buffer[3] = frame_count++;
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buffer[4] = alt_cm >> 8; // altitide low
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buffer[5] = alt_cm & 0xff; // Altitude-High, LSB
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buffer[6] = 0x00; // reserved
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buffer[7] = 0x00; // reserved
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buffer[8] = 0x00; // reserved
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buffer[9] = 0x00; // reserved
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buffer[10] = 0x00; // FFT
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buffer[11] = 0x00; // FFT
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buffer[12] = status >> 8; // FFT
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buffer[13] = status & 0xff; // FFT
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const uint16_t crc = crc16_ccitt_r(&buffer[0], 14, 0xffff, 0xffff);
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buffer[14] = crc & 0xff;
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buffer[15] = crc >> 8;
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return 16;
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}
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