ardupilot/libraries/AP_ExternalAHRS/AP_ExternalAHRS.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/>.
*/
/*
support for serial connected AHRS systems
*/
#pragma once
#include "AP_ExternalAHRS_config.h"
#if HAL_EXTERNAL_AHRS_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Common/Location.h>
#include <AP_NavEKF/AP_Nav_Common.h>
class AP_ExternalAHRS_backend;
class AP_ExternalAHRS {
public:
friend class AP_ExternalAHRS_backend;
friend class AP_ExternalAHRS_VectorNav;
AP_ExternalAHRS();
void init(void);
static const struct AP_Param::GroupInfo var_info[];
enum class DevType : uint8_t {
None = 0,
#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
VecNav = 1,
#endif
#if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
MicroStrain5 = 2,
#endif
#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
InertialLabs = 5,
#endif
// 3 reserved for AdNav
// 4 reserved for CINS
// 6 reserved for Trimble
#if AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
MicroStrain7 = 7,
#endif
// 8 reserved for SBG
// 9 reserved for EulerNav
// 10 reserved for Aeron
};
static AP_ExternalAHRS *get_singleton(void) {
return _singleton;
}
// expected IMU rate in Hz
float get_IMU_rate(void) const {
return rate.get();
}
// Get model/type name
const char* get_name() const;
enum class AvailableSensor {
GPS = (1U<<0),
IMU = (1U<<1),
BARO = (1U<<2),
COMPASS = (1U<<3),
};
// get serial port number, -1 for not enabled
int8_t get_port(AvailableSensor sensor) const;
struct state_t {
HAL_Semaphore sem;
Vector3f accel;
Vector3f gyro;
Quaternion quat; // NED
Location location;
Vector3f velocity;
Location origin;
bool have_quaternion;
bool have_origin;
bool have_location;
bool have_velocity;
uint32_t last_location_update_us;
} state;
// accessors for AP_AHRS
2022-12-21 09:25:05 -04:00
bool enabled() const;
bool healthy(void) const;
bool initialised(void) const;
bool get_quaternion(Quaternion &quat);
bool get_origin(Location &loc);
bool set_origin(const Location &loc);
bool get_location(Location &loc);
Vector2f get_groundspeed_vector();
bool get_velocity_NED(Vector3f &vel);
bool get_speed_down(float &speedD);
bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;
void get_filter_status(nav_filter_status &status) const;
bool get_gyro(Vector3f &gyro);
bool get_accel(Vector3f &accel);
void send_status_report(class GCS_MAVLINK &link) const;
// update backend
void update();
/*
structures passed to other subsystems
*/
typedef struct {
uint8_t instance;
float pressure_pa;
float temperature;
} baro_data_message_t;
typedef struct {
Vector3f field;
} mag_data_message_t;
typedef struct {
uint16_t gps_week; // GPS week, 0xFFFF if not available
uint32_t ms_tow;
uint8_t fix_type;
uint8_t satellites_in_view;
float horizontal_pos_accuracy;
float vertical_pos_accuracy;
float horizontal_vel_accuracy;
float hdop;
float vdop;
int32_t longitude;
int32_t latitude;
int32_t msl_altitude; // cm
float ned_vel_north;
float ned_vel_east;
float ned_vel_down;
} gps_data_message_t;
typedef struct {
Vector3f accel;
Vector3f gyro;
float temperature;
} ins_data_message_t;
typedef struct {
float differential_pressure; // Pa
float temperature; // degC
} airspeed_data_message_t;
// set GNSS disable for auxillary function GPS_DISABLE
void set_gnss_disable(bool disable) {
gnss_is_disabled = disable;
}
protected:
enum class OPTIONS {
VN_UNCOMP_IMU = 1U << 0,
};
bool option_is_set(OPTIONS option) const { return (options.get() & int32_t(option)) != 0; }
private:
AP_ExternalAHRS_backend *backend;
AP_Enum<DevType> devtype;
AP_Int16 rate;
AP_Int16 log_rate;
AP_Int16 options;
AP_Int16 sensors;
static AP_ExternalAHRS *_singleton;
// check if a sensor type is enabled
bool has_sensor(AvailableSensor sensor) const {
return (uint16_t(sensors.get()) & uint16_t(sensor)) != 0;
}
// set default of EAHRS_SENSORS
void set_default_sensors(uint16_t _sensors) {
sensors.set_default(_sensors);
}
uint32_t last_log_ms;
// true when user has disabled the GNSS
bool gnss_is_disabled;
};
namespace AP {
AP_ExternalAHRS &externalAHRS();
};
#endif // HAL_EXTERNAL_AHRS_ENABLED