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70 Commits

Author SHA1 Message Date
Ryan Friedman ba8ec342c7 AP_ExternalAHRS: Fix duplicate condition 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-07-03 10:32:59 +09:00
Ryan Friedman d0cfa58dee AP_ExternalAHRS: Only use GPS data when populating GPS fields 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman 62301fc005 AP_ExternalAHRS: Check backend pre-arm before origin 
* 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>
 2024-05-01 08:07:41 +10:00
Ryan Friedman ce0970b211 Save flash, reduce code duplication 
* 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>
 2024-05-01 08:07:41 +10:00
Ryan Friedman c948863de1 AP_ExternalAHRS: Don't send init message till booted up 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman de6244d078 AP_ExternalAHRS: Use state watching instead 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman 95257aa7df AP_ExternalAHRS: Provide warning for init failure 
* If the device hasn't initialized in 5 seconds, give a warning

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-05-01 08:07:41 +10:00
Ryan Friedman 596424057d AP_ExternalAHRS: Use filter data to populate EKF status report 
* 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>
 2024-05-01 08:07:41 +10:00
Ryan Friedman ea0156f72a AP_ExternalAHRS: Populate orientation from filter 
* Populating AHRS orientation from IMU was not correct

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-22 17:25:33 +11:00
Pulak Gautam 32cc2c452c AP_ExternalAHRS: added missing #if AHRS logging 2024-03-14 11:29:35 +11:00
Andrew Tridgell 8e9a4c1a9c AP_ExternalAHRS: check for origin in pre-arm check 2024-03-14 11:29:35 +11:00
Andrew Tridgell 88dc0384ab AP_ExternalAHRS: make get_accel() and get_gyro() bool 2024-03-14 11:29:35 +11:00
Andrew Tridgell 301116db03 AP_ExternalAHRS: added support for GPS disable and fwd flight 
allow backends to determine if we are in fixed wing flight and/or the
GPS is disabled by the user
 2024-03-14 11:29:35 +11:00
Andrew Tridgell 0b9c7409b2 AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging 
common logging for all EAHRS backends
 2024-03-14 11:29:35 +11:00
Jackwooh f67d895677 AP_ExternalAHRS: Reserve aaeron ID 
Added new EAHRS_TYPE
 2024-01-21 07:33:17 +11:00
Peter Barker f92b02afd0 AP_ExternalAHRS: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker f722457854 AP_ExternalAHRS: correct compilation with MicroStrain5 disabled 2024-01-15 09:39:41 +11:00
Peter Barker 7898d6f107 AP_ExternalAHRS: correct compilation when baro and compass externalahrs disabled 2024-01-15 09:39:41 +11:00
Henry Wurzburg 319202a233 AP_ExternalAHRS: add InertialLabs to type parameter 2024-01-01 13:18:08 +11:00
Andrew Tridgell 1d0fc4e87c AP_ExternalAHRS: fixed InertialLabs gyro/accel data 
this fixes a flapping CI test
 2023-12-29 06:29:52 +11:00
Andrew Tridgell 2842166b06 AP_ExternalAHRS: avoid uart owner issue 
ensure we own uart before read
 2023-12-26 06:21:42 +11:00
Ryan Friedman 1d805555f5 AP_ExternalAHRS: Fix typos in configuration for microstrain7 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-12-19 09:32:55 +11:00
Ryan Friedman dee0ca2f34 AP_ExternalARHS: Don't offer IMU by default 
* Since MicroStrain won't support >400Hz yet

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-12-18 16:03:35 +11:00
Andrew Tridgell 757607e4f8 AP_ExternalAHRS: added InertialLabs backend 2023-12-17 09:47:30 +11:00
Andrew Tridgell 771dfdf826 AP_ExternalAHRS: added location extrapolation 
this copes better with slow backends
 2023-12-17 09:47:30 +11:00
Andrew Tridgell 3954425f77 AP_ExternalAHRS: allow backends to set default sensor set 2023-12-17 09:47:30 +11:00
Andrew Tridgell cbc14d1fa5 AP_ExternalAHRS: align origin with AHRS origin 
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
 2023-12-17 09:47:30 +11:00
Ryan Friedman 7c183f4ab3 AP_ExternalAHRS: Add MicroStrain7 support 
* 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>
 2023-12-05 11:09:22 +11:00
Andrew Tridgell 2ef560db0b AP_ExternalAHRS: reserve some ExternalAHRS type values 2023-12-01 14:59:57 +11:00
Ryan Friedman be668ddc1b AP_ExternalAHRS: Clarify public interface design intent 
* Discussions with Tridge on design intent for these accessors

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-28 11:48:22 +11:00
Ryan Friedman ef6105c5e0 AP_ExternalAHRS: Specify brand on all log messages 
* 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>
 2023-11-14 11:02:26 +11:00
muramura 45fc140e1d AP_ExternalAHRS: Change to Boolean value 2023-11-11 09:06:42 +09:00
Mykhailo Kuznietsov 7f2975d21a AP_ExternalAHRS: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Peter Barker 429dbefade AP_AHRS: fill in error string when invalid backend specified 2023-09-25 08:11:23 +10:00
Peter Barker f8f28ee767 AP_ExternalAHRS: correct AP_ExternalAHRS init 
default clause is in wrong place and shouldn't be present to start with...
 2023-08-31 11:08:51 +10:00
Peter Barker 0bb8ec1e57 AP_ExternalAHRS: add missing includes 2023-08-30 12:26:14 +10:00
Ryan Friedman cbc0043b9b AP_ExternalAHRS: Fix nullptr crash on bootup 
* 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>
 2023-08-30 12:21:59 +10:00
Ryan Friedman d8eee6f41a AP_ExternalAHRS: Create common lib for MicroStrain 
* 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>
 2023-08-29 10:31:44 +10:00
Ryan Friedman 1839db7c1f AP_ExternalAHRS: Allow multiple external AHRS GPS instances 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-24 12:01:32 +10:00
Ryan Friedman cb480d2855 AP_ExternalAHRS: Rename LORD to MicroStrain 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-07 19:16:03 +10:00
Ryan Friedman 42abfa9e0e AP_ExternalAHRS: Use sparse-endian be32to<ftype>_ptr 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-06-05 09:09:13 +10:00
Ryan Friedman d0b8e672c0 AP_ExternalAHRS: Switch from type punning to defined behavior 
* 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>
 2023-06-05 09:09:13 +10:00
Peter Barker b471f9bfac AP_ExternalAHRS: create and use backend defines for AP_ExternalAHRS 2023-04-26 14:09:25 +10:00
Peter Barker de7d5c6899 AP_ExternalAHRS: don't check MINIMIZE_FEATURES when also checking BOARD_FLASH_SIZE 
we have an assertion that no board with >1MB of flash is minimized
 2023-04-15 09:33:35 +10:00
Peter Barker 74207ea687 AP_ExternalAHRS: add and use a "bool read(c)" method to AP_HAL 
this is much less likely to not work vs the int16_t equivalent
 2023-03-22 17:59:11 +11:00
Peter Barker f476a47228 AP_ExternalAHRS: specify AP_EXTERNALAHRS_ENABLED for periph in chibios_hwdef.py 2023-03-12 09:35:35 +11:00
Peter Barker c47a698edd AP_ExternalAHRS: honour AP_COMPASS_EXTERNALAHRS_ENABLED 2023-02-22 19:40:13 +11:00
Andrew Tridgell 32ee3002eb AP_ExternalAHRS: added EAHRS_SENSORS parameter 
allow selection of what sensors to enable
 2023-01-30 09:22:02 +11:00
Iampete1 3d9794a503 AP_ExternalAHRS: VectorNav: remove reset and wait as it causes baro calibration issues 2023-01-03 10:32:20 +11:00
Iampete1 759f035636 AP_ExtneralAHRS: add option to use uncompensated IMU values on vector nav 2023-01-03 10:32:20 +11:00