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AP_ExtneralAHRS: VectorNav: get uncompensated IMU values

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Iampete1 2022-12-22 20:57:30 +00:00 committed by Andrew Tridgell
parent f441640aba
commit 9040eac91b
1 changed files with 18 additions and 14 deletions
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32
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
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@ -38,11 +38,12 @@ extern const AP_HAL::HAL &hal;
/* /*
header for pre-configured 50Hz data header for pre-configured 50Hz data
assumes the following config for VN-300: assumes the following config for VN-300:
$VNWRG,75,3,8,34,072C,0106,0612*0C $VNWRG,75,3,8,34,072E,0106,0612*0C
0x34: Groups 3,5,6 0x34: Groups 3,5,6
Group 3 (IMU): Group 3 (IMU):
0x072C: 0x072E:
UncompMag
UncompAccel UncompAccel
UncompGyro UncompGyro
Pres Pres
@ -62,10 +63,11 @@ extern const AP_HAL::HAL &hal;
VelU VelU
*/ */
static const uint8_t vn_pkt1_header[] { 0x34, 0x2c, 0x07, 0x06, 0x01, 0x12, 0x06 }; static const uint8_t vn_pkt1_header[] { 0x34, 0x2E, 0x07, 0x06, 0x01, 0x12, 0x06 };
#define VN_PKT1_LENGTH 158 // includes header and CRC #define VN_PKT1_LENGTH 170 // includes header and CRC
struct PACKED VN_packet1 { struct PACKED VN_packet1 {
float uncompMag[3];
float uncompAccel[3]; float uncompAccel[3];
float uncompAngRate[3]; float uncompAngRate[3];
float pressure; float pressure;
@ -128,12 +130,15 @@ static_assert(sizeof(VN_packet2)+2+4*2+2 == VN_PKT2_LENGTH, "incorrect VN_packet
/* /*
assumes the following VN-300 config: assumes the following VN-300 config:
$VNWRG,75,3,80,14,0730,0004*66 $VNWRG,75,3,80,14,073E,0004*66
Alternate first packet for VN-100 Alternate first packet for VN-100
0x14: Groups 3, 5 0x14: Groups 3, 5
Group 3 (IMU): Group 3 (IMU):
0x0730: 0x073E:
UncompMag
UncompAccel
UncompGyro
Temp Temp
Pres Pres
Mag Mag
@ -143,10 +148,13 @@ static_assert(sizeof(VN_packet2)+2+4*2+2 == VN_PKT2_LENGTH, "incorrect VN_packet
0x0004: 0x0004:
Quaternion Quaternion
*/ */
static const uint8_t vn_100_pkt1_header[] { 0x14, 0x30, 0x07, 0x04, 0x00 }; static const uint8_t vn_100_pkt1_header[] { 0x14, 0x3E, 0x07, 0x04, 0x00 };
#define VN_100_PKT1_LENGTH 68 // includes header and CRC #define VN_100_PKT1_LENGTH 104 // includes header and CRC
struct PACKED VN_100_packet1 { struct PACKED VN_100_packet1 {
float uncompMag[3];
float uncompAccel[3];
float uncompAngRate[3];
float temp; float temp;
float pressure; float pressure;
float mag[3]; float mag[3];
@ -404,18 +412,14 @@ void AP_ExternalAHRS_VectorNav::update_thread()
if (strncmp(model_name, "VN-100", 6) == 0) { if (strncmp(model_name, "VN-100", 6) == 0) {
// VN-100 // VN-100
type = TYPE::VN_100; type = TYPE::VN_100;
// Shrink buffer size to packet length
// Allowing multiple packets to fit in the buffer breaks the parser
// its safe to make it smaller, we could resize to get some memory back
bufsize = MIN(bufsize,VN_100_PKT1_LENGTH);
// This assumes unit is still configured at its default rate of 800hz // This assumes unit is still configured at its default rate of 800hz
nmea_printf(uart, "$VNWRG,75,3,%u,14,0730,0004", unsigned(800/get_rate())); nmea_printf(uart, "$VNWRG,75,3,%u,14,073E,0004", unsigned(800/get_rate()));
} else { } else {
// Default to Setup for VN-300 series // Default to Setup for VN-300 series
// This assumes unit is still configured at its default rate of 400hz // This assumes unit is still configured at its default rate of 400hz
nmea_printf(uart, "$VNWRG,75,3,%u,34,072C,0106,0612", unsigned(400/get_rate())); nmea_printf(uart, "$VNWRG,75,3,%u,34,072E,0106,0612", unsigned(400/get_rate()));
nmea_printf(uart, "$VNWRG,76,3,80,4E,0002,0010,20B8,0018"); nmea_printf(uart, "$VNWRG,76,3,80,4E,0002,0010,20B8,0018");
} }