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AP_ExternalAHRS: VectorNac: VN-300 remove unused data fields

This commit is contained in:
Iampete1 2022-12-22 20:50:38 +00:00 committed by Andrew Tridgell
parent 2e465b4c18
commit f441640aba
1 changed files with 15 additions and 31 deletions
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46
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
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@ -38,57 +38,43 @@ extern const AP_HAL::HAL &hal;
/*
header for pre-configured 50Hz data
assumes the following config for VN-300:
$VNWRG,75,3,8,35,0003,0F2C,0147,0613*2642
$VNWRG,75,3,8,34,072C,0106,0612*0C
0x35: Groups 1,3,5,6
Group 1 (Common):
0x0003:
TimeStartup
TimeGps
0x34: Groups 3,5,6
Group 3 (IMU):
0x0F2C:
0x072C:
UncompAccel
UncompGyro
Pres
Mag
Accel
AngularRate
No 11th item in my manual, presubably "sensSat" whatever that means
Group 5 (Attitude):
0x0147:
Reserved, presumably "AHRSStatus" my manual must be out of date!
0x0106:
YawPitchRoll
Quaternion
LinearAccelBody
YprU
Group 6 (INS):
0x0613:
InsStatus
0x0612:
PosLLa
VelNed
LinearAccelEcef
PosU
VelU
*/
static const uint8_t vn_pkt1_header[] { 0x35, 0x03, 0x00, 0x2c, 0x0f, 0x47, 0x01, 0x13, 0x06 };
#define VN_PKT1_LENGTH 194 // includes header and CRC
static const uint8_t vn_pkt1_header[] { 0x34, 0x2c, 0x07, 0x06, 0x01, 0x12, 0x06 };
#define VN_PKT1_LENGTH 158 // includes header and CRC
struct PACKED VN_packet1 {
uint64_t timeStartup;
uint64_t timeGPS;
float uncompAccel[3];
float uncompAngRate[3];
float pressure;
float mag[3];
float accel[3];
float gyro[3];
uint16_t sensSat;
uint16_t AHRSStatus;
float ypr[3];
float quaternion[4];
float linAccBody[3];
float yprU[3];
uint16_t INSStatus;
double positionLLA[3];
float velNED[3];
float posU;
@ -96,12 +82,12 @@ struct PACKED VN_packet1 {
};
// check packet size for 4 groups
static_assert(sizeof(VN_packet1)+2+4*2+2 == VN_PKT1_LENGTH, "incorrect VN_packet1 length");
static_assert(sizeof(VN_packet1)+2+3*2+2 == VN_PKT1_LENGTH, "incorrect VN_packet1 length");
/*
header for pre-configured 5Hz data
assumes the following VN-300 config:
$VNWRG,76,3,80,4E,0002,0010,20B8,2018*A66B
$VNWRG,76,3,80,4E,0002,0010,20B8,0018*63
0x4E: Groups 2,3,4,7
Group 2 (Time):
@ -118,13 +104,12 @@ static_assert(sizeof(VN_packet1)+2+4*2+2 == VN_PKT1_LENGTH, "incorrect VN_packet
VelNed
DOP
Group 7 (GPS2):
0x2018:
0x0018:
NumSats
Fix
DOP
*/
static const uint8_t vn_pkt2_header[] { 0x4e, 0x02, 0x00, 0x10, 0x00, 0xb8, 0x20, 0x18, 0x20 };
#define VN_PKT2_LENGTH 120 // includes header and CRC
static const uint8_t vn_pkt2_header[] { 0x4e, 0x02, 0x00, 0x10, 0x00, 0xb8, 0x20, 0x18, 0x00 };
#define VN_PKT2_LENGTH 92 // includes header and CRC
struct PACKED VN_packet2 {
uint64_t timeGPS;
@ -136,7 +121,6 @@ struct PACKED VN_packet2 {
float GPS1DOP[7];
uint8_t numGPS2Sats;
uint8_t GPS2Fix;
float GPS2DOP[7];
};
// check packet size for 4 groups
@ -431,8 +415,8 @@ void AP_ExternalAHRS_VectorNav::update_thread()
} else {
// Default to Setup for VN-300 series
// This assumes unit is still configured at its default rate of 400hz
nmea_printf(uart, "$VNWRG,75,3,%u,35,0003,0F2C,0147,0613", unsigned(400/get_rate()));
nmea_printf(uart, "$VNWRG,76,3,80,4E,0002,0010,20B8,2018");
nmea_printf(uart, "$VNWRG,75,3,%u,34,072C,0106,0612", unsigned(400/get_rate()));
nmea_printf(uart, "$VNWRG,76,3,80,4E,0002,0010,20B8,0018");
}
setup_complete = true;