mirror of https://github.com/ArduPilot/ardupilot
828 lines
24 KiB
C++
828 lines
24 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 serial connected AHRS systems
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*/
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#define ALLOW_DOUBLE_MATH_FUNCTIONS
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#include "AP_ExternalAHRS_config.h"
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#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
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#include "AP_ExternalAHRS_VectorNav.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_Math/crc.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_Common/NMEA.h>
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#include <stdio.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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extern const AP_HAL::HAL &hal;
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/*
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header for pre-configured 50Hz data
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assumes the following config for VN-300:
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$VNWRG,75,3,8,34,072E,0106,0612*0C
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0x34: Groups 3,5,6
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Group 3 (IMU):
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0x072E:
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UncompMag
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UncompAccel
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UncompGyro
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Pres
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Mag
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Accel
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AngularRate
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Group 5 (Attitude):
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0x0106:
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YawPitchRoll
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Quaternion
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YprU
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Group 6 (INS):
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0x0612:
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PosLLa
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VelNed
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PosU
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VelU
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*/
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static const uint8_t vn_pkt1_header[] { 0x34, 0x2E, 0x07, 0x06, 0x01, 0x12, 0x06 };
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#define VN_PKT1_LENGTH 170 // includes header and CRC
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struct PACKED VN_packet1 {
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float uncompMag[3];
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float uncompAccel[3];
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float uncompAngRate[3];
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float pressure;
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float mag[3];
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float accel[3];
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float gyro[3];
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float ypr[3];
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float quaternion[4];
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float yprU[3];
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double positionLLA[3];
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float velNED[3];
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float posU;
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float velU;
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};
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// check packet size for 4 groups
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static_assert(sizeof(VN_packet1)+2+3*2+2 == VN_PKT1_LENGTH, "incorrect VN_packet1 length");
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/*
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header for pre-configured 5Hz data
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assumes the following VN-300 config:
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$VNWRG,76,3,80,4E,0002,0010,20B8,0018*63
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0x4E: Groups 2,3,4,7
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Group 2 (Time):
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0x0002:
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TimeGps
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Group 3 (IMU):
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0x0010:
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Temp
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Group 4 (GPS1):
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0x20B8:
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NumSats
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Fix
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PosLLa
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VelNed
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DOP
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Group 7 (GPS2):
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0x0018:
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NumSats
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Fix
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*/
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static const uint8_t vn_pkt2_header[] { 0x4e, 0x02, 0x00, 0x10, 0x00, 0xb8, 0x20, 0x18, 0x00 };
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#define VN_PKT2_LENGTH 92 // includes header and CRC
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struct PACKED VN_packet2 {
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uint64_t timeGPS;
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float temp;
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uint8_t numGPS1Sats;
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uint8_t GPS1Fix;
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double GPS1posLLA[3];
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float GPS1velNED[3];
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float GPS1DOP[7];
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uint8_t numGPS2Sats;
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uint8_t GPS2Fix;
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};
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// check packet size for 4 groups
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static_assert(sizeof(VN_packet2)+2+4*2+2 == VN_PKT2_LENGTH, "incorrect VN_packet2 length");
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/*
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assumes the following VN-300 config:
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$VNWRG,75,3,80,14,073E,0004*66
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Alternate first packet for VN-100
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0x14: Groups 3, 5
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Group 3 (IMU):
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0x073E:
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UncompMag
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UncompAccel
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UncompGyro
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Temp
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Pres
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Mag
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Accel
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Gyro
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Group 5 (Attitude):
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0x0004:
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Quaternion
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*/
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static const uint8_t vn_100_pkt1_header[] { 0x14, 0x3E, 0x07, 0x04, 0x00 };
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#define VN_100_PKT1_LENGTH 104 // includes header and CRC
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struct PACKED VN_100_packet1 {
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float uncompMag[3];
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float uncompAccel[3];
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float uncompAngRate[3];
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float temp;
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float pressure;
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float mag[3];
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float accel[3];
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float gyro[3];
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float quaternion[4];
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};
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static_assert(sizeof(VN_100_packet1)+2+2*2+2 == VN_100_PKT1_LENGTH, "incorrect VN_100_packet1 length");
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// constructor
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AP_ExternalAHRS_VectorNav::AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *_frontend,
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AP_ExternalAHRS::state_t &_state) :
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AP_ExternalAHRS_backend(_frontend, _state)
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{
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auto &sm = AP::serialmanager();
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uart = sm.find_serial(AP_SerialManager::SerialProtocol_AHRS, 0);
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if (!uart) {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ExternalAHRS no UART");
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return;
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}
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baudrate = sm.find_baudrate(AP_SerialManager::SerialProtocol_AHRS, 0);
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port_num = sm.find_portnum(AP_SerialManager::SerialProtocol_AHRS, 0);
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bufsize = MAX(MAX(VN_PKT1_LENGTH, VN_PKT2_LENGTH), VN_100_PKT1_LENGTH);
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pktbuf = new uint8_t[bufsize];
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last_pkt1 = new VN_packet1;
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last_pkt2 = new VN_packet2;
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if (!pktbuf || !last_pkt1 || !last_pkt2) {
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AP_BoardConfig::allocation_error("ExternalAHRS");
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}
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if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_ExternalAHRS_VectorNav::update_thread, void), "AHRS", 2048, AP_HAL::Scheduler::PRIORITY_SPI, 0)) {
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AP_HAL::panic("Failed to start ExternalAHRS update thread");
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}
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ExternalAHRS initialised");
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}
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/*
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check the UART for more data
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returns true if the function should be called again straight away
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*/
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#define SYNC_BYTE 0xFA
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bool AP_ExternalAHRS_VectorNav::check_uart()
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{
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if (!setup_complete) {
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return false;
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}
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WITH_SEMAPHORE(state.sem);
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uint32_t n = uart->available();
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if (n == 0) {
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return false;
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}
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if (pktoffset < bufsize) {
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ssize_t nread = uart->read(&pktbuf[pktoffset], MIN(n, unsigned(bufsize-pktoffset)));
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if (nread <= 0) {
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return false;
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}
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pktoffset += nread;
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}
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bool match_header1 = false;
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bool match_header2 = false;
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bool match_header3 = false;
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if (pktbuf[0] != SYNC_BYTE) {
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goto reset;
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}
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if (type == TYPE::VN_300) {
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match_header1 = (0 == memcmp(&pktbuf[1], vn_pkt1_header, MIN(sizeof(vn_pkt1_header), unsigned(pktoffset-1))));
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match_header2 = (0 == memcmp(&pktbuf[1], vn_pkt2_header, MIN(sizeof(vn_pkt2_header), unsigned(pktoffset-1))));
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} else {
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match_header3 = (0 == memcmp(&pktbuf[1], vn_100_pkt1_header, MIN(sizeof(vn_100_pkt1_header), unsigned(pktoffset-1))));
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}
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if (!match_header1 && !match_header2 && !match_header3) {
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goto reset;
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}
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if (match_header1 && pktoffset >= VN_PKT1_LENGTH) {
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uint16_t crc = crc16_ccitt(&pktbuf[1], VN_PKT1_LENGTH-1, 0);
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if (crc == 0) {
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// got pkt1
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process_packet1(&pktbuf[sizeof(vn_pkt1_header)+1]);
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memmove(&pktbuf[0], &pktbuf[VN_PKT1_LENGTH], pktoffset-VN_PKT1_LENGTH);
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pktoffset -= VN_PKT1_LENGTH;
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} else {
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goto reset;
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}
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} else if (match_header2 && pktoffset >= VN_PKT2_LENGTH) {
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uint16_t crc = crc16_ccitt(&pktbuf[1], VN_PKT2_LENGTH-1, 0);
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if (crc == 0) {
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// got pkt2
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process_packet2(&pktbuf[sizeof(vn_pkt2_header)+1]);
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memmove(&pktbuf[0], &pktbuf[VN_PKT2_LENGTH], pktoffset-VN_PKT2_LENGTH);
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pktoffset -= VN_PKT2_LENGTH;
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} else {
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goto reset;
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}
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} else if (match_header3 && pktoffset >= VN_100_PKT1_LENGTH) {
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uint16_t crc = crc16_ccitt(&pktbuf[1], VN_100_PKT1_LENGTH-1, 0);
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if (crc == 0) {
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// got VN-100 pkt1
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process_packet_VN_100(&pktbuf[sizeof(vn_100_pkt1_header)+1]);
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memmove(&pktbuf[0], &pktbuf[VN_100_PKT1_LENGTH], pktoffset-VN_100_PKT1_LENGTH);
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pktoffset -= VN_100_PKT1_LENGTH;
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} else {
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goto reset;
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}
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}
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return true;
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reset:
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uint8_t *p = (uint8_t *)memchr(&pktbuf[1], SYNC_BYTE, pktoffset-1);
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if (p) {
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uint8_t newlen = pktoffset - (p - pktbuf);
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memmove(&pktbuf[0], p, newlen);
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pktoffset = newlen;
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} else {
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pktoffset = 0;
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}
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return true;
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}
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// Send command to read given register number and wait for response
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// Only run from thread! This blocks until a response is received
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#define READ_REQUEST_RETRY_MS 500
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void AP_ExternalAHRS_VectorNav::wait_register_responce(const uint8_t register_num)
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{
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nmea.register_number = register_num;
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uint32_t request_sent = 0;
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while (true) {
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hal.scheduler->delay(1);
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const uint32_t now = AP_HAL::millis();
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if (now - request_sent > READ_REQUEST_RETRY_MS) {
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// Send request to read
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nmea_printf(uart, "$%s%u", "VNRRG,", nmea.register_number);
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request_sent = now;
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}
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int16_t nbytes = uart->available();
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while (nbytes-- > 0) {
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char c = uart->read();
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if (decode(c)) {
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return;
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}
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}
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}
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}
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// add a single character to the buffer and attempt to decode
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// returns true if a complete sentence was successfully decoded
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bool AP_ExternalAHRS_VectorNav::decode(char c)
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{
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switch (c) {
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case ',':
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// end of a term, add to checksum
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nmea.checksum ^= c;
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FALLTHROUGH;
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case '\r':
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case '\n':
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case '*':
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{
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if (nmea.sentence_done) {
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return false;
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}
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if (nmea.term_is_checksum) {
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nmea.sentence_done = true;
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uint8_t checksum = 16 * char_to_hex(nmea.term[0]) + char_to_hex(nmea.term[1]);
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return ((checksum == nmea.checksum) && nmea.sentence_valid);
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}
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// null terminate and decode latest term
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nmea.term[nmea.term_offset] = 0;
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if (nmea.sentence_valid) {
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nmea.sentence_valid = decode_latest_term();
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}
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// move onto next term
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nmea.term_number++;
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nmea.term_offset = 0;
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nmea.term_is_checksum = (c == '*');
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return false;
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}
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case '$': // sentence begin
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nmea.sentence_valid = true;
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nmea.term_number = 0;
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nmea.term_offset = 0;
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nmea.checksum = 0;
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nmea.term_is_checksum = false;
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nmea.sentence_done = false;
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return false;
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}
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// ordinary characters are added to term
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if (nmea.term_offset < sizeof(nmea.term) - 1) {
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nmea.term[nmea.term_offset++] = c;
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}
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if (!nmea.term_is_checksum) {
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nmea.checksum ^= c;
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}
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return false;
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}
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// decode the most recently consumed term
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// returns true if new sentence has just passed checksum test and is validated
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bool AP_ExternalAHRS_VectorNav::decode_latest_term()
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{
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switch (nmea.term_number) {
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case 0:
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if (strcmp(nmea.term, "VNRRG") != 0) {
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return false;
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}
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break;
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case 1:
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if (nmea.register_number != strtoul(nmea.term, nullptr, 10)) {
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return false;
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}
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break;
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case 2:
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strncpy(model_name, nmea.term, sizeof(model_name));
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break;
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default:
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return false;
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}
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return true;
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}
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void AP_ExternalAHRS_VectorNav::update_thread()
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{
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// Open port in the thread
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uart->begin(baudrate, 1024, 512);
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// Reset and wait for module to reboot
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// VN_100 takes 1.25 seconds
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//nmea_printf(uart, "$VNRST");
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//hal.scheduler->delay(3000);
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// Stop NMEA Async Outputs (this UART only)
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nmea_printf(uart, "$VNWRG,6,0");
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// Detect version
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// Read Model Number Register, ID 1
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wait_register_responce(1);
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// Setup for messages respective model types (on both UARTs)
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if (strncmp(model_name, "VN-100", 6) == 0) {
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// VN-100
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type = TYPE::VN_100;
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// This assumes unit is still configured at its default rate of 800hz
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nmea_printf(uart, "$VNWRG,75,3,%u,14,073E,0004", unsigned(800/get_rate()));
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} else {
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// Default to Setup for VN-300 series
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// This assumes unit is still configured at its default rate of 400hz
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nmea_printf(uart, "$VNWRG,75,3,%u,34,072E,0106,0612", unsigned(400/get_rate()));
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nmea_printf(uart, "$VNWRG,76,3,80,4E,0002,0010,20B8,0018");
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}
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setup_complete = true;
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while (true) {
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if (!check_uart()) {
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hal.scheduler->delay(1);
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}
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}
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}
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const char* AP_ExternalAHRS_VectorNav::get_name() const
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{
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if (setup_complete) {
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return model_name;
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}
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return nullptr;
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}
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/*
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process packet type 1
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*/
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void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
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{
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const struct VN_packet1 &pkt1 = *(struct VN_packet1 *)b;
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const struct VN_packet2 &pkt2 = *last_pkt2;
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last_pkt1_ms = AP_HAL::millis();
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*last_pkt1 = pkt1;
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const bool use_uncomp = option_is_set(AP_ExternalAHRS::OPTIONS::VN_UNCOMP_IMU);
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{
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WITH_SEMAPHORE(state.sem);
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if (use_uncomp) {
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state.accel = Vector3f{pkt1.uncompAccel[0], pkt1.uncompAccel[1], pkt1.uncompAccel[2]};
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state.gyro = Vector3f{pkt1.uncompAngRate[0], pkt1.uncompAngRate[1], pkt1.uncompAngRate[2]};
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} else {
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state.accel = Vector3f{pkt1.accel[0], pkt1.accel[1], pkt1.accel[2]};
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state.gyro = Vector3f{pkt1.gyro[0], pkt1.gyro[1], pkt1.gyro[2]};
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}
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state.quat = Quaternion{pkt1.quaternion[3], pkt1.quaternion[0], pkt1.quaternion[1], pkt1.quaternion[2]};
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state.have_quaternion = true;
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state.velocity = Vector3f{pkt1.velNED[0], pkt1.velNED[1], pkt1.velNED[2]};
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state.have_velocity = true;
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state.location = Location{int32_t(pkt1.positionLLA[0] * 1.0e7),
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int32_t(pkt1.positionLLA[1] * 1.0e7),
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int32_t(pkt1.positionLLA[2] * 1.0e2),
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Location::AltFrame::ABSOLUTE};
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state.have_location = true;
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}
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#if AP_BARO_EXTERNALAHRS_ENABLED
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{
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AP_ExternalAHRS::baro_data_message_t baro;
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baro.instance = 0;
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baro.pressure_pa = pkt1.pressure*1e3;
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baro.temperature = pkt2.temp;
|
|
|
|
AP::baro().handle_external(baro);
|
|
}
|
|
#endif
|
|
|
|
#if AP_COMPASS_EXTERNALAHRS_ENABLED
|
|
{
|
|
AP_ExternalAHRS::mag_data_message_t mag;
|
|
mag.field = Vector3f{pkt1.mag[0], pkt1.mag[1], pkt1.mag[2]};
|
|
mag.field *= 1000; // to mGauss
|
|
|
|
AP::compass().handle_external(mag);
|
|
}
|
|
#endif
|
|
|
|
{
|
|
AP_ExternalAHRS::ins_data_message_t ins;
|
|
|
|
ins.accel = state.accel;
|
|
ins.gyro = state.gyro;
|
|
ins.temperature = pkt2.temp;
|
|
|
|
AP::ins().handle_external(ins);
|
|
}
|
|
|
|
|
|
// @LoggerMessage: EAH1
|
|
// @Description: External AHRS data
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: Roll: euler roll
|
|
// @Field: Pitch: euler pitch
|
|
// @Field: Yaw: euler yaw
|
|
// @Field: VN: velocity north
|
|
// @Field: VE: velocity east
|
|
// @Field: VD: velocity down
|
|
// @Field: Lat: latitude
|
|
// @Field: Lon: longitude
|
|
// @Field: Alt: altitude AMSL
|
|
// @Field: UXY: uncertainty in XY position
|
|
// @Field: UV: uncertainty in velocity
|
|
// @Field: UR: uncertainty in roll
|
|
// @Field: UP: uncertainty in pitch
|
|
// @Field: UY: uncertainty in yaw
|
|
|
|
AP::logger().WriteStreaming("EAH1", "TimeUS,Roll,Pitch,Yaw,VN,VE,VD,Lat,Lon,Alt,UXY,UV,UR,UP,UY",
|
|
"sdddnnnDUmmnddd", "F000000GG000000",
|
|
"QffffffLLffffff",
|
|
AP_HAL::micros64(),
|
|
pkt1.ypr[2], pkt1.ypr[1], pkt1.ypr[0],
|
|
pkt1.velNED[0], pkt1.velNED[1], pkt1.velNED[2],
|
|
int32_t(pkt1.positionLLA[0]*1.0e7), int32_t(pkt1.positionLLA[1]*1.0e7),
|
|
float(pkt1.positionLLA[2]),
|
|
pkt1.posU, pkt1.velU,
|
|
pkt1.yprU[2], pkt1.yprU[1], pkt1.yprU[0]);
|
|
}
|
|
|
|
/*
|
|
process packet type 2
|
|
*/
|
|
void AP_ExternalAHRS_VectorNav::process_packet2(const uint8_t *b)
|
|
{
|
|
const struct VN_packet2 &pkt2 = *(struct VN_packet2 *)b;
|
|
const struct VN_packet1 &pkt1 = *last_pkt1;
|
|
|
|
last_pkt2_ms = AP_HAL::millis();
|
|
*last_pkt2 = pkt2;
|
|
|
|
AP_ExternalAHRS::gps_data_message_t gps;
|
|
|
|
// get ToW in milliseconds
|
|
gps.gps_week = pkt2.timeGPS / (AP_MSEC_PER_WEEK * 1000000ULL);
|
|
gps.ms_tow = (pkt2.timeGPS / 1000000ULL) % (60*60*24*7*1000ULL);
|
|
gps.fix_type = pkt2.GPS1Fix;
|
|
gps.satellites_in_view = pkt2.numGPS1Sats;
|
|
|
|
gps.horizontal_pos_accuracy = pkt1.posU;
|
|
gps.vertical_pos_accuracy = pkt1.posU;
|
|
gps.horizontal_vel_accuracy = pkt1.velU;
|
|
|
|
gps.hdop = pkt2.GPS1DOP[4];
|
|
gps.vdop = pkt2.GPS1DOP[3];
|
|
|
|
gps.latitude = pkt2.GPS1posLLA[0] * 1.0e7;
|
|
gps.longitude = pkt2.GPS1posLLA[1] * 1.0e7;
|
|
gps.msl_altitude = pkt2.GPS1posLLA[2] * 1.0e2;
|
|
|
|
gps.ned_vel_north = pkt2.GPS1velNED[0];
|
|
gps.ned_vel_east = pkt2.GPS1velNED[1];
|
|
gps.ned_vel_down = pkt2.GPS1velNED[2];
|
|
|
|
if (gps.fix_type >= 3 && !state.have_origin) {
|
|
WITH_SEMAPHORE(state.sem);
|
|
state.origin = Location{int32_t(pkt2.GPS1posLLA[0] * 1.0e7),
|
|
int32_t(pkt2.GPS1posLLA[1] * 1.0e7),
|
|
int32_t(pkt2.GPS1posLLA[2] * 1.0e2),
|
|
Location::AltFrame::ABSOLUTE};
|
|
state.have_origin = true;
|
|
}
|
|
uint8_t instance;
|
|
if (AP::gps().get_first_external_instance(instance)) {
|
|
AP::gps().handle_external(gps, instance);
|
|
}
|
|
}
|
|
|
|
/*
|
|
process VN-100 packet type 1
|
|
*/
|
|
void AP_ExternalAHRS_VectorNav::process_packet_VN_100(const uint8_t *b)
|
|
{
|
|
const struct VN_100_packet1 &pkt = *(struct VN_100_packet1 *)b;
|
|
|
|
last_pkt1_ms = AP_HAL::millis();
|
|
|
|
const bool use_uncomp = option_is_set(AP_ExternalAHRS::OPTIONS::VN_UNCOMP_IMU);
|
|
|
|
{
|
|
WITH_SEMAPHORE(state.sem);
|
|
if (use_uncomp) {
|
|
state.accel = Vector3f{pkt.uncompAccel[0], pkt.uncompAccel[1], pkt.uncompAccel[2]};
|
|
state.gyro = Vector3f{pkt.uncompAngRate[0], pkt.uncompAngRate[1], pkt.uncompAngRate[2]};
|
|
} else {
|
|
state.accel = Vector3f{pkt.accel[0], pkt.accel[1], pkt.accel[2]};
|
|
state.gyro = Vector3f{pkt.gyro[0], pkt.gyro[1], pkt.gyro[2]};
|
|
}
|
|
|
|
state.quat = Quaternion{pkt.quaternion[3], pkt.quaternion[0], pkt.quaternion[1], pkt.quaternion[2]};
|
|
state.have_quaternion = true;
|
|
}
|
|
|
|
#if AP_BARO_EXTERNALAHRS_ENABLED
|
|
{
|
|
AP_ExternalAHRS::baro_data_message_t baro;
|
|
baro.instance = 0;
|
|
baro.pressure_pa = pkt.pressure*1e3;
|
|
baro.temperature = pkt.temp;
|
|
|
|
AP::baro().handle_external(baro);
|
|
}
|
|
#endif
|
|
|
|
#if AP_COMPASS_EXTERNALAHRS_ENABLED
|
|
{
|
|
AP_ExternalAHRS::mag_data_message_t mag;
|
|
if (use_uncomp) {
|
|
mag.field = Vector3f{pkt.uncompMag[0], pkt.uncompMag[1], pkt.uncompMag[2]};
|
|
} else {
|
|
mag.field = Vector3f{pkt.mag[0], pkt.mag[1], pkt.mag[2]};
|
|
}
|
|
mag.field *= 1000; // to mGauss
|
|
|
|
AP::compass().handle_external(mag);
|
|
}
|
|
#endif
|
|
|
|
{
|
|
AP_ExternalAHRS::ins_data_message_t ins;
|
|
|
|
ins.accel = state.accel;
|
|
ins.gyro = state.gyro;
|
|
ins.temperature = pkt.temp;
|
|
|
|
AP::ins().handle_external(ins);
|
|
}
|
|
|
|
// @LoggerMessage: EAH3
|
|
// @Description: External AHRS data
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: Temp: Temprature
|
|
// @Field: Pres: Pressure
|
|
// @Field: MX: Magnetic feild X-axis
|
|
// @Field: MY: Magnetic feild Y-axis
|
|
// @Field: MZ: Magnetic feild Z-axis
|
|
// @Field: AX: Acceleration X-axis
|
|
// @Field: AY: Acceleration Y-axis
|
|
// @Field: AZ: Acceleration Z-axis
|
|
// @Field: GX: Rotation rate X-axis
|
|
// @Field: GY: Rotation rate Y-axis
|
|
// @Field: GZ: Rotation rate Z-axis
|
|
// @Field: Q1: Attitude quaternion 1
|
|
// @Field: Q2: Attitude quaternion 2
|
|
// @Field: Q3: Attitude quaternion 3
|
|
// @Field: Q4: Attitude quaternion 4
|
|
|
|
AP::logger().WriteStreaming("EAH3", "TimeUS,Temp,Pres,MX,MY,MZ,AX,AY,AZ,GX,GY,GZ,Q1,Q2,Q3,Q4",
|
|
"sdPGGGoooEEE----", "F000000000000000",
|
|
"Qfffffffffffffff",
|
|
AP_HAL::micros64(),
|
|
pkt.temp, pkt.pressure*1e3,
|
|
use_uncomp ? pkt.uncompMag[0] : pkt.mag[0],
|
|
use_uncomp ? pkt.uncompMag[1] : pkt.mag[1],
|
|
use_uncomp ? pkt.uncompMag[2] : pkt.mag[2],
|
|
state.accel[0], state.accel[1], state.accel[2],
|
|
state.gyro[0], state.gyro[1], state.gyro[2],
|
|
state.quat[0], state.quat[1], state.quat[2], state.quat[3]);
|
|
|
|
}
|
|
|
|
|
|
// get serial port number for the uart
|
|
int8_t AP_ExternalAHRS_VectorNav::get_port(void) const
|
|
{
|
|
if (!uart) {
|
|
return -1;
|
|
}
|
|
return port_num;
|
|
};
|
|
|
|
// accessors for AP_AHRS
|
|
bool AP_ExternalAHRS_VectorNav::healthy(void) const
|
|
{
|
|
const uint32_t now = AP_HAL::millis();
|
|
if (type == TYPE::VN_100) {
|
|
return (now - last_pkt1_ms < 40);
|
|
}
|
|
return (now - last_pkt1_ms < 40 && now - last_pkt2_ms < 500);
|
|
}
|
|
|
|
bool AP_ExternalAHRS_VectorNav::initialised(void) const
|
|
{
|
|
if (!setup_complete) {
|
|
return false;
|
|
}
|
|
if (type == TYPE::VN_100) {
|
|
return last_pkt1_ms != 0;
|
|
}
|
|
return last_pkt1_ms != 0 && last_pkt2_ms != 0;
|
|
}
|
|
|
|
bool AP_ExternalAHRS_VectorNav::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const
|
|
{
|
|
if (!setup_complete) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav setup failed");
|
|
return false;
|
|
}
|
|
if (!healthy()) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav unhealthy");
|
|
return false;
|
|
}
|
|
if (type == TYPE::VN_300) {
|
|
if (last_pkt2->GPS1Fix < 3) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav no GPS1 lock");
|
|
return false;
|
|
}
|
|
if (last_pkt2->GPS2Fix < 3) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav no GPS2 lock");
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
get filter status. We don't know the meaning of the status bits yet,
|
|
so assume all OK if we have GPS lock
|
|
*/
|
|
void AP_ExternalAHRS_VectorNav::get_filter_status(nav_filter_status &status) const
|
|
{
|
|
memset(&status, 0, sizeof(status));
|
|
if (type == TYPE::VN_300) {
|
|
if (last_pkt1 && last_pkt2) {
|
|
status.flags.initalized = true;
|
|
}
|
|
if (healthy() && last_pkt2) {
|
|
status.flags.attitude = true;
|
|
status.flags.vert_vel = true;
|
|
status.flags.vert_pos = true;
|
|
|
|
const struct VN_packet2 &pkt2 = *last_pkt2;
|
|
if (pkt2.GPS1Fix >= 3) {
|
|
status.flags.horiz_vel = true;
|
|
status.flags.horiz_pos_rel = true;
|
|
status.flags.horiz_pos_abs = true;
|
|
status.flags.pred_horiz_pos_rel = true;
|
|
status.flags.pred_horiz_pos_abs = true;
|
|
status.flags.using_gps = true;
|
|
}
|
|
}
|
|
} else {
|
|
status.flags.initalized = initialised();
|
|
if (healthy()) {
|
|
status.flags.attitude = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
// send an EKF_STATUS message to GCS
|
|
void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const
|
|
{
|
|
if (!last_pkt1) {
|
|
return;
|
|
}
|
|
// prepare flags
|
|
uint16_t flags = 0;
|
|
nav_filter_status filterStatus;
|
|
get_filter_status(filterStatus);
|
|
if (filterStatus.flags.attitude) {
|
|
flags |= EKF_ATTITUDE;
|
|
}
|
|
if (filterStatus.flags.horiz_vel) {
|
|
flags |= EKF_VELOCITY_HORIZ;
|
|
}
|
|
if (filterStatus.flags.vert_vel) {
|
|
flags |= EKF_VELOCITY_VERT;
|
|
}
|
|
if (filterStatus.flags.horiz_pos_rel) {
|
|
flags |= EKF_POS_HORIZ_REL;
|
|
}
|
|
if (filterStatus.flags.horiz_pos_abs) {
|
|
flags |= EKF_POS_HORIZ_ABS;
|
|
}
|
|
if (filterStatus.flags.vert_pos) {
|
|
flags |= EKF_POS_VERT_ABS;
|
|
}
|
|
if (filterStatus.flags.terrain_alt) {
|
|
flags |= EKF_POS_VERT_AGL;
|
|
}
|
|
if (filterStatus.flags.const_pos_mode) {
|
|
flags |= EKF_CONST_POS_MODE;
|
|
}
|
|
if (filterStatus.flags.pred_horiz_pos_rel) {
|
|
flags |= EKF_PRED_POS_HORIZ_REL;
|
|
}
|
|
if (filterStatus.flags.pred_horiz_pos_abs) {
|
|
flags |= EKF_PRED_POS_HORIZ_ABS;
|
|
}
|
|
if (!filterStatus.flags.initalized) {
|
|
flags |= EKF_UNINITIALIZED;
|
|
}
|
|
|
|
// send message
|
|
const struct VN_packet1 &pkt1 = *(struct VN_packet1 *)last_pkt1;
|
|
const float vel_gate = 5;
|
|
const float pos_gate = 5;
|
|
const float hgt_gate = 5;
|
|
const float mag_var = 0;
|
|
mavlink_msg_ekf_status_report_send(link.get_chan(), flags,
|
|
pkt1.velU/vel_gate, pkt1.posU/pos_gate, pkt1.posU/hgt_gate,
|
|
mag_var, 0, 0);
|
|
}
|
|
|
|
#endif // AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
|