ardupilot/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp

256 lines
5.7 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
suppport for serial connected AHRS systems
*/
#include "AP_ExternalAHRS_config.h"
#if HAL_EXTERNAL_AHRS_ENABLED
#include "AP_ExternalAHRS.h"
#include "AP_ExternalAHRS_backend.h"
#include "AP_ExternalAHRS_VectorNav.h"
#include "AP_ExternalAHRS_MicroStrain5.h"
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL &hal;
AP_ExternalAHRS *AP_ExternalAHRS::_singleton;
// constructor
AP_ExternalAHRS::AP_ExternalAHRS()
{
AP_Param::setup_object_defaults(this, var_info);
_singleton = this;
if (rate.get() < 50) {
// min 50Hz
rate.set(50);
}
}
#ifndef HAL_EXTERNAL_AHRS_DEFAULT
#define HAL_EXTERNAL_AHRS_DEFAULT 0
#endif
// table of user settable parameters
const AP_Param::GroupInfo AP_ExternalAHRS::var_info[] = {
// @Param: _TYPE
// @DisplayName: AHRS type
// @Description: Type of AHRS device
// @Values: 0:None,1:VectorNav,2:MicroStrain
// @User: Standard
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_ExternalAHRS, devtype, HAL_EXTERNAL_AHRS_DEFAULT, AP_PARAM_FLAG_ENABLE),
// @Param: _RATE
// @DisplayName: AHRS data rate
// @Description: Requested rate for AHRS device
// @Units: Hz
// @User: Standard
AP_GROUPINFO("_RATE", 2, AP_ExternalAHRS, rate, 50),
// @Param: _OPTIONS
// @DisplayName: External AHRS options
// @Description: External AHRS options bitmask
// @Bitmask: 0:Vector Nav use uncompensated values for accel gyro and mag.
// @User: Standard
AP_GROUPINFO("_OPTIONS", 3, AP_ExternalAHRS, options, 0),
// @Param: _SENSORS
// @DisplayName: External AHRS sensors
// @Description: External AHRS sensors bitmask
// @Bitmask: 0:GPS,1:IMU,2:Baro,3:Compass
// @User: Advanced
AP_GROUPINFO("_SENSORS", 4, AP_ExternalAHRS, sensors, 0xF),
AP_GROUPEND
};
void AP_ExternalAHRS::init(void)
{
if (rate.get() < 50) {
// min 50Hz
rate.set(50);
}
switch (DevType(devtype)) {
case DevType::None:
// nothing to do
return;
#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
case DevType::VecNav:
backend = new AP_ExternalAHRS_VectorNav(this, state);
return;
#endif
#if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
case DevType::MicroStrain5:
backend = new AP_ExternalAHRS_MicroStrain5(this, state);
return;
#endif
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unsupported ExternalAHRS type %u", unsigned(devtype));
}
bool AP_ExternalAHRS::enabled() const
{
return DevType(devtype) != DevType::None;
}
// get serial port number for the uart, or -1 if not applicable
int8_t AP_ExternalAHRS::get_port(AvailableSensor sensor) const
{
if (!backend || !has_sensor(sensor)) {
return -1;
}
return backend->get_port();
};
// accessors for AP_AHRS
bool AP_ExternalAHRS::healthy(void) const
{
return backend && backend->healthy();
}
bool AP_ExternalAHRS::initialised(void) const
{
return backend && backend->initialised();
}
bool AP_ExternalAHRS::get_quaternion(Quaternion &quat)
{
if (state.have_quaternion) {
WITH_SEMAPHORE(state.sem);
quat = state.quat;
return true;
}
return false;
}
bool AP_ExternalAHRS::get_origin(Location &loc)
{
if (state.have_origin) {
WITH_SEMAPHORE(state.sem);
loc = state.origin;
return true;
}
return false;
}
bool AP_ExternalAHRS::get_location(Location &loc)
{
if (!state.have_location) {
return false;
}
WITH_SEMAPHORE(state.sem);
loc = state.location;
return true;
}
Vector2f AP_ExternalAHRS::get_groundspeed_vector()
{
WITH_SEMAPHORE(state.sem);
Vector2f vec{state.velocity.x, state.velocity.y};
return vec;
}
bool AP_ExternalAHRS::get_velocity_NED(Vector3f &vel)
{
if (!state.have_velocity) {
return false;
}
WITH_SEMAPHORE(state.sem);
vel = state.velocity;
return true;
}
bool AP_ExternalAHRS::get_speed_down(float &speedD)
{
if (!state.have_velocity) {
return false;
}
WITH_SEMAPHORE(state.sem);
speedD = state.velocity.z;
return true;
}
bool AP_ExternalAHRS::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const
{
return backend && backend->pre_arm_check(failure_msg, failure_msg_len);
}
/*
get filter status
*/
void AP_ExternalAHRS::get_filter_status(nav_filter_status &status) const
{
status = {};
if (backend) {
backend->get_filter_status(status);
}
}
Vector3f AP_ExternalAHRS::get_gyro(void)
{
WITH_SEMAPHORE(state.sem);
return state.gyro;
}
Vector3f AP_ExternalAHRS::get_accel(void)
{
WITH_SEMAPHORE(state.sem);
return state.accel;
}
// send an EKF_STATUS message to GCS
void AP_ExternalAHRS::send_status_report(GCS_MAVLINK &link) const
{
if (backend) {
backend->send_status_report(link);
}
}
void AP_ExternalAHRS::update(void)
{
if (backend) {
backend->update();
}
}
// Get model/type name
const char* AP_ExternalAHRS::get_name() const
{
if (backend) {
return backend->get_name();
}
return nullptr;
}
namespace AP {
AP_ExternalAHRS &externalAHRS()
{
return *AP_ExternalAHRS::get_singleton();
}
};
#endif // HAL_EXTERNAL_AHRS_ENABLED