AP_HAL_SITL: simulate generic chinese sonar sensor

khancyr · Oct 30, 2024 · 385f281 · 385f281
1 parent d05b485
commit 385f281
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Showing 2 changed files with 12 additions and 0 deletions.
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -100,6 +100,12 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
         }
         lanbao = NEW_NOTHROW SITL::RF_Lanbao();
         return lanbao;
+    } else if (streq(name, "genericcsonar_serial")) {
+        if (generic_c_sonar_serial != nullptr) {
+            AP_HAL::panic("Only one genericcsonar_serial at a time");
+        }
+        generic_c_sonar_serial = NEW_NOTHROW SITL::RF_GenericCSonar_Serial();
+        return generic_c_sonar_serial;
     } else if (streq(name, "blping")) {
         if (blping != nullptr) {
             AP_HAL::panic("Only one blping at a time");
@@ -382,6 +388,9 @@ void SITL_State_Common::sim_update(void)
     if (lanbao != nullptr) {
         lanbao->update(sitl_model->rangefinder_range());
     }
+    if (generic_c_sonar_serial != nullptr) {
+        generic_c_sonar_serial->update(sitl_model->rangefinder_range());
+    }
     if (blping != nullptr) {
         blping->update(sitl_model->rangefinder_range());
     }

diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -24,6 +24,7 @@
 #include <SITL/SIM_RF_LightWareSerial.h>
 #include <SITL/SIM_RF_LightWareSerialBinary.h>
 #include <SITL/SIM_RF_Lanbao.h>
+#include <SITL/SIM_RF_GenericCSonar_Serial.h>
 #include <SITL/SIM_RF_BLping.h>
 #include <SITL/SIM_RF_LeddarOne.h>
 #include <SITL/SIM_RF_RDS02UF.h>
@@ -166,6 +167,8 @@ class HALSITL::SITL_State_Common {
     SITL::RF_MAVLink *rf_mavlink;
     // simulated GYUS42v2 rangefinder:
     SITL::RF_GYUS42v2 *gyus42v2;
+    // simulated GenericCSonar_Serial:
+    SITL::RF_GenericCSonar_Serial *generic_c_sonar_serial;
 
     // simulated Frsky devices
     SITL::Frsky_D *frsky_d;