ardupilot/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h

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/*
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/>.
*/
/*
suppport for serial connected AHRS systems
*/
#pragma once
#include "AP_ExternalAHRS_config.h"
#if AP_EXTERNAL_AHRS_LORD_ENABLED
#include "AP_ExternalAHRS_backend.h"
#include <AP_GPS/AP_GPS.h>
class AP_ExternalAHRS_LORD: public AP_ExternalAHRS_backend
{
public:
AP_ExternalAHRS_LORD(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
// get serial port number, -1 for not enabled
int8_t get_port(void) const override;
// Get model/type name
const char* get_name() const override;
// accessors for AP_AHRS
bool healthy(void) const override;
bool initialised(void) const override;
bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
void get_filter_status(nav_filter_status &status) const override;
void send_status_report(class GCS_MAVLINK &link) const override;
// check for new data
void update() override {
build_packet();
};
private:
enum class ParseState {
WaitingFor_SyncOne,
WaitingFor_SyncTwo,
WaitingFor_Descriptor,
WaitingFor_PayloadLength,
WaitingFor_Data,
WaitingFor_Checksum
};
void update_thread();
AP_HAL::UARTDriver *uart;
HAL_Semaphore sem;
uint32_t baudrate;
int8_t port_num;
bool port_open = false;
const uint8_t SYNC_ONE = 0x75;
const uint8_t SYNC_TWO = 0x65;
uint32_t last_ins_pkt;
uint32_t last_gps_pkt;
uint32_t last_filter_pkt;
// A LORD packet can be a maximum of 261 bytes
struct LORD_Packet {
uint8_t header[4];
uint8_t payload[255];
uint8_t checksum[2];
};
struct {
LORD_Packet packet;
ParseState state;
uint8_t index;
} message_in;
struct {
Vector3f accel;
Vector3f gyro;
Vector3f mag;
Quaternion quat;
float pressure;
} imu_data;
struct {
uint16_t week;
uint32_t tow_ms;
GPS_FIX_TYPE fix_type;
uint8_t satellites;
float horizontal_position_accuracy;
float vertical_position_accuracy;
float hdop;
float vdop;
int32_t lon;
int32_t lat;
int32_t msl_altitude;
float ned_velocity_north;
float ned_velocity_east;
float ned_velocity_down;
float speed_accuracy;
} gnss_data;
struct {
uint16_t state;
uint16_t mode;
uint16_t flags;
} filter_status;
struct {
uint16_t week;
uint32_t tow_ms;
float horizontal_position_accuracy;
float vertical_position_accuracy;
int32_t lon;
int32_t lat;
int32_t hae_altitude;
float ned_velocity_north;
float ned_velocity_east;
float ned_velocity_down;
float speed_accuracy;
} filter_data;
void build_packet();
bool valid_packet(const LORD_Packet &packet) const;
void handle_packet(const LORD_Packet &packet);
void handle_imu(const LORD_Packet &packet);
void handle_gnss(const LORD_Packet &packet);
void handle_filter(const LORD_Packet &packet);
void post_imu() const;
void post_gnss() const;
void post_filter() const;
Vector3f populate_vector3f(const uint8_t* data, uint8_t offset) const;
Quaternion populate_quaternion(const uint8_t* data, uint8_t offset) const;
};
#endif // AP_EXTERNAL_AHRS_LORD_ENABLED