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AP_ExternalAHRS: added EAHRS_SENSORS parameter 

allow selection of what sensors to enable
This commit is contained in:
Andrew Tridgell 2023-01-24 15:39:49 +11:00
parent 6623f1156c
commit 32ee3002eb
2 changed files with 23 additions and 3 deletions
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11
libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
View File

@ -68,6 +68,13 @@ const AP_Param::GroupInfo AP_ExternalAHRS::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("_OPTIONS", 3, AP_ExternalAHRS, options, 0), AP_GROUPINFO("_OPTIONS", 3, AP_ExternalAHRS, options, 0),
// @Param: _SENSORS
// @DisplayName: External AHRS sensors
// @Description: External AHRS sensors bitmask
// @Bitmask: 0:GPS,1:IMU,2:Baro,3:Compass
// @User: Advanced
AP_GROUPINFO("_SENSORS", 4, AP_ExternalAHRS, sensors, 0xF),
AP_GROUPEND AP_GROUPEND
}; };
@ -101,9 +108,9 @@ bool AP_ExternalAHRS::enabled() const
} }
// get serial port number for the uart, or -1 if not applicable // get serial port number for the uart, or -1 if not applicable
int8_t AP_ExternalAHRS::get_port(void) const int8_t AP_ExternalAHRS::get_port(AvailableSensor sensor) const
{ {
if (!backend) { if (!backend || !has_sensor(sensor)) {
return -1; return -1;
} }
return backend->get_port(); return backend->get_port();

15
libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
View File

@ -59,8 +59,15 @@ public:
// Get model/type name // Get model/type name
const char* get_name() const; 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 // get serial port number, -1 for not enabled
int8_t get_port(void) const; int8_t get_port(AvailableSensor sensor) const;
struct state_t { struct state_t {
HAL_Semaphore sem; HAL_Semaphore sem;
@ -147,8 +154,14 @@ private:
AP_Enum<DevType> devtype; AP_Enum<DevType> devtype;
AP_Int16 rate; AP_Int16 rate;
AP_Int16 options; AP_Int16 options;
AP_Int16 sensors;
static AP_ExternalAHRS *_singleton; 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;
}
}; };
namespace AP { namespace AP {