From a08416e736376ff270917568b9a23191ff932904 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Wed, 30 Oct 2024 12:24:20 +0100
Subject: [PATCH] SITL: simulate generic chinese sonar sensor

---
 .../SITL/SIM_RF_GenericCSonar_Serial.cpp      | 35 +++++++++++++++
 libraries/SITL/SIM_RF_GenericCSonar_Serial.h  | 43 +++++++++++++++++++
 2 files changed, 78 insertions(+)
 create mode 100644 libraries/SITL/SIM_RF_GenericCSonar_Serial.cpp
 create mode 100644 libraries/SITL/SIM_RF_GenericCSonar_Serial.h

diff --git a/libraries/SITL/SIM_RF_GenericCSonar_Serial.cpp b/libraries/SITL/SIM_RF_GenericCSonar_Serial.cpp
new file mode 100644
index 0000000000000..bd4e29fb1c369
--- /dev/null
+++ b/libraries/SITL/SIM_RF_GenericCSonar_Serial.cpp
@@ -0,0 +1,35 @@
+/*
+   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 Generic Chinese Sonar rangefinder : A02YYUW; ME007YS
+*/
+
+#include "SIM_RF_GenericCSonar_Serial.h"
+
+#include <GCS_MAVLink/GCS.h>
+#include <stdio.h>
+
+
+using namespace SITL;
+
+uint32_t RF_GenericCSonar_Serial::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
+{
+    buffer[0] = 0xFF;
+    buffer[1] = (alt_cm * 10) >> 8;
+    buffer[2] = (alt_cm * 10) & 0xff;
+    buffer[3] = (buffer[0] + buffer[1] + buffer[2]) & 0x00FF;
+
+    return 4;
+}
diff --git a/libraries/SITL/SIM_RF_GenericCSonar_Serial.h b/libraries/SITL/SIM_RF_GenericCSonar_Serial.h
new file mode 100644
index 0000000000000..be4c113c42bf0
--- /dev/null
+++ b/libraries/SITL/SIM_RF_GenericCSonar_Serial.h
@@ -0,0 +1,43 @@
+/*
+   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 Lanbao rangefinder
+
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:genericcsonar_serial --speedup=1
+
+param set SERIAL5_PROTOCOL 9
+param set RNGFND1_TYPE 44
+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_GenericCSonar_Serial : public SerialRangeFinder {
+public:
+
+    uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
+
+};
+
+}