* This catches when there's a mismatch of GPSx_TYPE and EAHRS_SENSORS
when GPS is enabled
* Before this pre-arm, failure to set GPS_TYPE2 to 21 (ExternalAHRS)
resulted in silent rejection of the data in AP_GPS because the default
is off
* And fix a little logging bug
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
* Add generic health and time utils
* Fix bug only checking first GNSS system
* Use common logging struct
* Improve pre-arm log checks
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
* Variances vs uncertainties may still be off
* Requires enabling the following packets in SensorConnect:
* Position Uncertainty (LLH)
* Velocity Uncertainty (NED)
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
* Implement filter state without relying on GPS
* Implement health and initialization check based on filter state
* Fix pre-arm checks missing version
* Add version specifics to microstrain 5 log msgs
* Add utilities to microstrain packet to remove magic number array
access
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Andrew Tridgell
Peter Barker
Ryan Friedman