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Tools: Add MicroStrain7 support 

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-09-23 13:43:11 -06:00 committed by Andrew Tridgell
parent 7c183f4ab3
commit bcd11701fa
4 changed files with 20 additions and 2 deletions
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7
Tools/autotest/ArduPlane_Tests/MicroStrainEAHRS7/ap1.txt Normal file
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@ -0,0 +1,7 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.090027 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.361553 149.163956 20.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364540 149.162857 50.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.367333 149.163164 28.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366814 149.165878 28.000000 1
5 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.362947 149.165179 0.000000 1

5
Tools/autotest/arduplane.py
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@ -3275,6 +3275,10 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
'''Test MicroStrain EAHRS series 5 support'''
self.fly_external_AHRS("MicroStrain5", 2, "ap1.txt")
def MicroStrainEAHRS7(self):
'''Test MicroStrain EAHRS series 7 support'''
self.fly_external_AHRS("MicroStrain7", 7, "ap1.txt")
def get_accelvec(self, m):
return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81
@ -5353,6 +5357,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.TerrainLoiter,
self.VectorNavEAHRS,
self.MicroStrainEAHRS5,
self.MicroStrainEAHRS7,
self.Deadreckoning,
self.DeadreckoningNoAirSpeed,
self.EKFlaneswitch,

1
Tools/scripts/build_options.py
View File

@ -32,6 +32,7 @@ BUILD_OPTIONS = [
Feature('AHRS', 'EKF2', 'HAL_NAVEKF2_AVAILABLE', 'Enable EKF2', 0, None),
Feature('AHRS', 'AHRS_EXT', 'HAL_EXTERNAL_AHRS_ENABLED', 'Enable External AHRS', 0, None),
Feature('AHRS', 'AHRS_EXT_MICROSTRAIN5', 'AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED', 'Enable MICROSTRAIN 5-series External AHRS', 0, "AHRS_EXT"), # noqa: E501
Feature('AHRS', 'AHRS_EXT_MICROSTRAIN7', 'AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED', 'Enable MICROSTRAIN 7-series External AHRS', 0, "AHRS_EXT"), # noqa: E501
Feature('AHRS', 'AHRS_EXT_VECTORNAV', 'AP_EXTERNAL_AHRS_VECTORNAV_ENABLED', 'Enable VectorNav External AHRS', 0, "AHRS_EXT"), # noqa
Feature('AHRS', 'TEMPCAL', 'HAL_INS_TEMPERATURE_CAL_ENABLE', 'Enable IMU Temperature Calibration', 0, None),
Feature('AHRS', 'VISUALODOM', 'HAL_VISUALODOM_ENABLED', 'Enable Visual Odometry', 0, 'EKF3_EXTNAV'),

9
Tools/scripts/run_astyle.py
View File

@ -22,9 +22,14 @@ class AStyleChecker(object):
self.retcode = 0
self.directories_to_check = [
'libraries/AP_DDS',
'libraries/AP_ExternalControl'
'libraries/AP_ExternalControl',
]
self.files_to_check = [
pathlib.Path(s) for s in [
'libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp',
'libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.h',
]
]
self.files_to_check = []
self.dry_run = dry_run
def progress(self, string):