Remove unnecessary header
Switch parameters to default initialization
Change pointer casting to prevent a const_cast, and remove doubled sync byte when echoing ASCII messages
Fix Valgrind report by preventing use of nmea_printf on buffers which may not be null-terminated
In AHRS Mode, split the single message to an IMU packet and an AHRS packet; in EKF Mode, split the two messages into an IMU message, an EKF packet, and a GNSS packet.
Simplify message header definition to consolidate and eliminate the need for static asserts
Update healthy logic and use to represent new packet structure
Replace EAH3 message with messages per-packet
Add Ypr as configured output in the EKF message
"VNERR" does not match beginning of message_to_send, so have to prevent it from returning due to the string compare. Also must prevent exiting the decode before the sentence has completed so that we can go on to print the error code term.
Fix bug preventing disabling of ASCII measurements
Instead of snprintf the command to message_to_send then executing run_command, allow run_command to accept a string and format spec
Add check to ensure message_to_send is greater than length 6 before attempting to read past 6
* 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>
Andrew Tridgell
weavVN
BLash
Ryan Friedman
Mykhailo Kuznietsov
Peter Barker
Iampete1
Andy Piper