mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.1 KiB
C++
80 lines
2.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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support for MicroStrain CX5/GX5-45 serially connected AHRS Systems
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*/
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#pragma once
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#include "AP_ExternalAHRS_config.h"
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#if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
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#include "AP_ExternalAHRS_backend.h"
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#include <AP_GPS/AP_GPS.h>
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#include <AP_HAL/AP_HAL.h>
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#include "MicroStrain_common.h"
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class AP_ExternalAHRS_MicroStrain5: public AP_ExternalAHRS_backend, public AP_MicroStrain
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{
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public:
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AP_ExternalAHRS_MicroStrain5(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
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// get serial port number, -1 for not enabled
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int8_t get_port(void) const override;
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// Get model/type name
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const char* get_name() const override;
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// accessors for AP_AHRS
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bool healthy(void) const override;
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bool initialised(void) const override;
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bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
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void get_filter_status(nav_filter_status &status) const override;
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void send_status_report(class GCS_MAVLINK &link) const override;
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// check for new data
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void update() override {
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build_packet();
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};
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protected:
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uint8_t num_gps_sensors(void) const override {
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return 1;
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}
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private:
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uint32_t baudrate;
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int8_t port_num;
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bool port_open = false;
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void build_packet();
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void post_imu() const;
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void post_gnss() const;
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void post_filter() const;
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void update_thread();
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AP_HAL::UARTDriver *uart;
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HAL_Semaphore sem;
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};
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#endif // AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
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