mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.5 KiB
C
89 lines
2.5 KiB
C
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/*
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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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support for MicroStrain GQ7 serially connected AHRS Systems
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*/
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#pragma once
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#include "AP_ExternalAHRS_config.h"
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#if AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
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#include "AP_ExternalAHRS_backend.h"
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#include <AP_GPS/AP_GPS.h>
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#include <AP_HAL/AP_HAL.h>
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#include "MicroStrain_common.h"
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class AP_ExternalAHRS_MicroStrain7: public AP_ExternalAHRS_backend, public AP_MicroStrain
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{
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public:
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AP_ExternalAHRS_MicroStrain7(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
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// get serial port number, -1 for not enabled
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int8_t get_port(void) const override;
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// Get model/type name
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const char* get_name() const override;
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// accessors for AP_AHRS
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bool healthy(void) const override;
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bool initialised(void) const override;
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bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
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void get_filter_status(nav_filter_status &status) const override;
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void send_status_report(class GCS_MAVLINK &link) const override;
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// check for new data
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void update() override
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{
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build_packet();
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};
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private:
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// GQ7 Filter States
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// https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_status.htm
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enum class FilterState {
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GQ7_INIT = 0x01,
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GQ7_VERT_GYRO = 0x02,
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GQ7_AHRS = 0x03,
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GQ7_FULL_NAV = 0x04
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};
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uint32_t baudrate;
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int8_t port_num;
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bool port_open = false;
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void build_packet();
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void post_imu() const;
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void post_gnss() const;
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void post_filter() const;
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void update_thread();
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// Only some of the fix types satisfy a healthy filter.
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// GQ7_VERT_GYRO is NOT considered healthy for now.
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// This may be vehicle-dependent in the future.
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static bool filter_state_healthy(FilterState state) WARN_IF_UNUSED;
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AP_HAL::UARTDriver *uart;
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HAL_Semaphore sem;
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};
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#endif // AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
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