c3b6127b1b
AP_ExternalAHRS: correct VectorNAV handling of error term
2024-08-13 08:38:21 +10:00
d7ecf5fbc5
AP_ExternalAHRS_VectorNav: Consolidate EAH3 definition to single method
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Resolve SITL failures due to multiply defined logger message by pulling the call to a single method
2024-07-29 15:52:29 +10:00
1d1bb5724e
AP_ExternalAHRS_VectorNav: Address review comments
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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
2024-07-29 15:52:29 +10:00
50980ee03e
AP_ExternalAHRS_VectorNav: Update SIM to match new message definitions
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Redefine messages to 3 INS packets, and send as appropriate
Resolve SITL failures due to too-long logger message headers
2024-07-29 15:52:29 +10:00
d4ca5fe868
AP_ExternalAHRS_VectorNav: Split IMU and EKF message
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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
2024-07-29 15:52:29 +10:00
34031cc6b6
AP_ExternalAHRS_VectorNav: Bugfixes and review comment address
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"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
2024-07-17 17:49:18 +10:00
ed6ee51783
AP_ExternalAHRS_VectorNav: Minor code clarity improvements
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Add clarity to send_command_blocking by improving comment and directly returning instead of breaking
2024-07-17 17:49:18 +10:00
1288810c70
AP_ExternalAHRS_VectorNav: Handle VNERR responses
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Print received VNERR response to console and continually retry sending the configuration message, instead of panicing
2024-07-17 17:49:18 +10:00
024d50ed09
AP_ExternalAHRS: VectorNav: Disable ASCII messages on both ports, rather than just active port
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This change prevents a commonly seen baudrate overflow error on the unused port.
Also pause asynchronous communications during initial configuration.
2024-07-17 17:49:18 +10:00
d5ff3ed35a
AP_ExternalAHRS: VectorNav: Add response validation to all sent commands
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Expands wait_register_response (and renames to send_command_blocking)
to accept any arbitrary command, and uses the new method for all sent
commands
2024-07-17 17:49:18 +10:00
271f08fc03
AP_ExternalAHRS: VectorNav: Add support for sensors outside VN-100 and VN-300
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Includes naming changes to match new broadened usage
2024-07-05 21:41:22 +10:00
5756b9a3de
AP_ExternalAHRS: use NEW_NOTHROW for new(std::nothrow)
2024-06-04 09:20:21 +10:00
cb53e64293
AP_ExternalAHRS: added EAHRS_LOG_RATE and common logging
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common logging for all EAHRS backends
2024-02-27 21:10:20 +11:00
f92b02afd0
AP_ExternalAHRS: allow compilation with HAL_LOGGING_ENABLED false
2024-01-17 18:25:55 +11:00
2842166b06
AP_ExternalAHRS: avoid uart owner issue
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ensure we own uart before read
2023-12-26 06:21:42 +11:00
771dfdf826
AP_ExternalAHRS: added location extrapolation
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this copes better with slow backends
2023-12-17 09:47:30 +11:00
ef6105c5e0
AP_ExternalAHRS: Specify brand on all log messages
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* 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
45fc140e1d
AP_ExternalAHRS: Change to Boolean value
2023-11-11 09:06:42 +09:00
7f2975d21a
AP_ExternalAHRS: Fix some typos
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Fixed some typos found in the code.
2023-10-12 18:30:42 +11:00
0bb8ec1e57
AP_ExternalAHRS: add missing includes
2023-08-30 12:26:14 +10:00
1839db7c1f
AP_ExternalAHRS: Allow multiple external AHRS GPS instances
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-08-24 12:01:32 +10:00
b471f9bfac
AP_ExternalAHRS: create and use backend defines for AP_ExternalAHRS
2023-04-26 14:09:25 +10:00
c47a698edd
AP_ExternalAHRS: honour AP_COMPASS_EXTERNALAHRS_ENABLED
2023-02-22 19:40:13 +11:00
3d9794a503
AP_ExternalAHRS: VectorNav: remove reset and wait as it causes baro calibration issues
2023-01-03 10:32:20 +11:00
759f035636
AP_ExtneralAHRS: add option to use uncompensated IMU values on vector nav
2023-01-03 10:32:20 +11:00
9040eac91b
AP_ExtneralAHRS: VectorNav: get uncompensated IMU values
2023-01-03 10:32:20 +11:00
f441640aba
AP_ExternalAHRS: VectorNac: VN-300 remove unused data fields
2023-01-03 10:32:20 +11:00
8710a651ce
AP_ExternalAHRS: VectorNAV: add support for VN-100
2023-01-03 10:32:20 +11:00
74e651e5d7
AP_ExternalAHRS: stop using GCS_MAVLINK.h in header files
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... by passing through a reference to a link object instead
2022-08-16 09:45:51 +10:00
e9426b2ff3
AP_ExternalAHRS: correct compilation if AP_Baro_ExternalAHRS isn't available
2022-05-25 18:19:00 +10:00
0acccaf4b7
AP_ExternalAHRS: factor substring from allocation_error parameter
2021-10-18 12:49:44 +11:00
224abe7933
AP_ExternalAHRS: use config error instead of panic on allocation failure
2021-09-30 08:51:26 +10:00
4faa16b0a7
AP_ExternalAHRS: mark logger Write() calls as streaming where appropriate
2021-08-18 10:20:03 +10:00
bb28a58bce
AP_ExternalAHRS: added frontend/backend split
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allow for multiple backends
2021-04-13 09:36:52 +10:00
Peter Barker
BLash
Andrew Tridgell
Ryan Friedman
muramura
Mykhailo Kuznietsov
Iampete1
bugobliterator