mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.1 KiB
C++
58 lines
1.1 KiB
C++
// Created by Asa Davis and Davis Schenkenberger on 23rd September 21.
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//usage:
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//PARAMS:
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// param set AHRS_EKF_TYPE 11
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// param set EAHRS_TYPE 2
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// param set SERIAL4_PROTOCOL 36
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// param set SERIAL4_BAUD 115
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// sim_vehicle.py -v ArduPlane -D --console --map -A --uartE=sim:MicroStrain
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#pragma once
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#include "SIM_Aircraft.h"
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#include <SITL/SITL.h>
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#include "SIM_SerialDevice.h"
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namespace SITL
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{
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class MicroStrain : public SerialDevice
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{
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public:
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MicroStrain();
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// update state
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void update(void);
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private:
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struct MicroStrain_Packet {
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uint8_t header[4];
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uint8_t payload[256];
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uint8_t checksum[2];
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size_t payload_size = 0;
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};
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uint32_t last_imu_pkt_us;
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uint32_t last_gnss_pkt_us;
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uint32_t last_filter_pkt_us;
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void generate_checksum(MicroStrain_Packet&);
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void send_packet(MicroStrain_Packet);
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void send_imu_packet();
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void send_gnss_packet();
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void send_filter_packet();
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void put_float(MicroStrain_Packet&, float);
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void put_double(MicroStrain_Packet&, double);
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void put_int(MicroStrain_Packet&, uint16_t);
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uint64_t start_us;
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};
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}
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