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AP_ExternalAHRS: SIM_MicroStrain support quaternion attitude 

* This replaces IMU orientation
* Fixed some usage docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2024-02-03 20:43:51 -07:00 committed by Andrew Tridgell
parent 3cb4d2ec3b
commit 41fc3a8dbb
3 changed files with 28 additions and 10 deletions
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10
libraries/SITL/SIM_MicroStrain.cpp
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@ -13,7 +13,15 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
simulate MicroStrain GNSS-INS devices
Simulate MicroStrain CX5 GNSS-INS devices
Usage:
PARAMS:
param set AHRS_EKF_TYPE 11
param set EAHRS_TYPE 2
param set SERIAL3_PROTOCOL 36
param set SERIAL3_BAUD 115
sim_vehicle.py -v Plane -A "--serial3=sim:MicroStrain5" --console --map -DG
*/
#include "SIM_MicroStrain.h"
#include <stdio.h>

7
libraries/SITL/SIM_MicroStrain.h
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@ -1,12 +1,5 @@
// Created by Asa Davis and Davis Schenkenberger on 23rd September 21.
//usage:
//PARAMS:
// param set AHRS_EKF_TYPE 11
// param set EAHRS_TYPE 2
// param set SERIAL3_PROTOCOL 36
// param set SERIAL3_BAUD 115
// sim_vehicle.py -v Plane -A "--serial3=sim:MicroStrain7" --console --map -DG
#pragma once
#include "SIM_Aircraft.h"

21
libraries/SITL/SIM_MicroStrain7.cpp
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@ -13,7 +13,15 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
simulate MicroStrain 7-series GNSS-INS devices
Simulate MicroStrain 7-series GNSS-INS devices
Usage:
PARAMS:
param set AHRS_EKF_TYPE 11
param set EAHRS_TYPE 7
param set SERIAL3_PROTOCOL 36
param set SERIAL3_BAUD 115
sim_vehicle.py -v Plane -A "--serial3=sim:MicroStrain7" --console --map -DG
*/
#include "SIM_MicroStrain.h"
@ -140,8 +148,17 @@ void MicroStrain7::send_filter_packet(void)
put_int(packet, 0x03); // Dynamics mode (Airborne)
put_int(packet, 0); // Filter flags (None, no warnings)
packet.header[3] = packet.payload_size;
// Add Attitude Quaternion
// https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_attitude_quaternion.htm
packet.payload[packet.payload_size++] = 0x14; // Attitude Quaternion Field Size
packet.payload[packet.payload_size++] = 0x03; // Descriptor
put_float(packet, fdm.quaternion.q1);
put_float(packet, fdm.quaternion.q2);
put_float(packet, fdm.quaternion.q3);
put_float(packet, fdm.quaternion.q4);
put_int(packet, 0x0001); // Valid flags
packet.header[3] = packet.payload_size;
send_packet(packet);
}