* 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>
* This allows the backend to report more detailed errors
* Before this, many pre-arm errors were hidden by origin failure
* If pre-arm could report multiple errors, that would be ideal
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>
automatically set origin to AHRS origin. This means if on boot
external AHRS is not the primary then it will use the origin from the
active backend, preventing a jump on change of backends
* 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>
* The VN driver was likely written before there were multiple types
* The log messages make it seem like core AHRS problems rather than
issues directly with VN
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
* If you didn't set the serial port parameter correctly, but enabled MicroStrain AHRS, it would crash on boot
* This is because AP_AHRS calls update() which calls build_packet()
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
* Move common parsing to MicroStrain_common
* Add propogation of parsed packet type back to the driver
* Rename the driver to add series-5 specifier
* Unlocks adding 7-series driver with less code duplication
* Add missing includes
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
* This was undefined behavior in the C++ standard
* Use the safer options in AP_Common
* Removes a compiler warning
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Ryan Friedman
Peter Barker
Pulak Gautam
Andrew Tridgell
Jackwooh
Henry Wurzburg
muramura
Mykhailo Kuznietsov