mirror of https://github.com/ArduPilot/ardupilot
847 lines
27 KiB
C++
847 lines
27 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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TYPE::VN_AHRS configures 2 packets: high-rate IMU and mid-rate EKF
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Header for IMU packet
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$VNWRG,75,3,16,01,0721*D415
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Common group (Group 1)
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TimeStartup
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AngularRate
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Accel
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Imu
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MagPres
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Header for EKF packet
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$VNWRG,76,3,16,11,0001,0106*B36B
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Common group (Group 1)
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TimeStartup
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Attitude group (Group 4)
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Ypr
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Quaternion
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YprU
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*/
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struct PACKED VN_IMU_packet {
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static constexpr uint8_t header[]{0x01, 0x21, 0x07};
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uint64_t timeStartup;
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float gyro[3];
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float accel[3];
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float uncompAccel[3];
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float uncompAngRate[3];
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float mag[3];
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float temp;
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float pressure;
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};
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constexpr uint8_t VN_IMU_packet::header[];
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constexpr uint8_t VN_IMU_LENGTH = sizeof(VN_IMU_packet) + sizeof(VN_IMU_packet::header) + 1 + 2; // Includes sync byte and CRC
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struct PACKED VN_AHRS_ekf_packet {
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static constexpr uint8_t header[]{0x11, 0x01, 0x00, 0x06, 0x01};
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uint64_t timeStartup;
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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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};
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constexpr uint8_t VN_AHRS_ekf_packet::header[];
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constexpr uint8_t VN_AHRS_EKF_LENGTH = sizeof(VN_AHRS_ekf_packet) + sizeof(VN_AHRS_ekf_packet::header) + 1 + 2; // Includes sync byte and CRC
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/*
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TYPE::VN_INS configures 3 packets: high-rate IMU, mid-rate EKF, and 5Hz GNSS
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Header for IMU packet
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$VNWRG,75,3,16,01,0721*D415
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Common group (Group 1)
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TimeStartup
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AngularRate
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Accel
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Imu
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MagPres
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Header for EKF packet
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$VNWRG,76,3,16,31,0001,0106,0613*097A
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Common group (Group 1)
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TimeStartup
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Attitude group (Group 4)
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Ypr
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Quaternion
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YprU
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Ins group (Group 5)
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InsStatus
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PosLla
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VelNed
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PosU
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VelU
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Header for GNSS packet
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$VNWRG,77,1,160,49,0003,26B8,0018*4FD9
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Common group (Group 1)
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TimeStartup
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TimeGps
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Gnss1 group (Group 3)
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NumSats
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GnssFix
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GnssPosLla
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GnssVelNed
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PosU1
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VelU1
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GnssDop
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Gnss2 group (Group 6)
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NumSats
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GnssFix
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*/
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union Ins_Status {
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uint16_t _value;
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struct {
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uint16_t mode : 2;
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uint16_t gnssFix : 1;
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uint16_t resv1 : 2;
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uint16_t imuErr : 1;
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uint16_t magPresErr : 1;
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uint16_t gnssErr : 1;
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uint16_t resv2 : 1;
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uint16_t gnssHeadingIns : 2;
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};
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};
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struct PACKED VN_INS_ekf_packet {
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static constexpr uint8_t header[]{0x31, 0x01, 0x00, 0x06, 0x01, 0x13, 0x06};
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uint64_t timeStartup;
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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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uint16_t insStatus;
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double posLla[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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constexpr uint8_t VN_INS_ekf_packet::header[];
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constexpr uint8_t VN_INS_EKF_LENGTH = sizeof(VN_INS_ekf_packet) + sizeof(VN_INS_ekf_packet::header) + 1 + 2; // Includes sync byte and CRC
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struct PACKED VN_INS_gnss_packet {
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static constexpr uint8_t header[]{0x49, 0x03, 0x00, 0xB8, 0x26, 0x18, 0x00};
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uint64_t timeStartup;
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uint64_t timeGps;
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uint8_t numSats1;
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uint8_t fix1;
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double posLla1[3];
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float velNed1[3];
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float posU1[3];
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float velU1;
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float dop1[7];
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uint8_t numSats2;
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uint8_t fix2;
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};
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constexpr uint8_t VN_INS_gnss_packet::header[];
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constexpr uint8_t VN_INS_GNSS_LENGTH = sizeof(VN_INS_gnss_packet) + sizeof(VN_INS_gnss_packet::header) + 1 + 2; // Includes sync byte and CRC
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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, "VectorNav 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(MAX(VN_IMU_LENGTH, VN_INS_EKF_LENGTH), VN_INS_GNSS_LENGTH), VN_AHRS_EKF_LENGTH);
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pktbuf = NEW_NOTHROW uint8_t[bufsize];
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latest_ins_ekf_packet = NEW_NOTHROW VN_INS_ekf_packet;
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latest_ins_gnss_packet = NEW_NOTHROW VN_INS_gnss_packet;
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if (!pktbuf || !latest_ins_ekf_packet) {
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AP_BoardConfig::allocation_error("VectorNav 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("VectorNav Failed to start ExternalAHRS update thread");
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}
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "VectorNav 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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// ensure we own the uart
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uart->begin(0);
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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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bool match_header4 = false;
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if (pktbuf[0] != SYNC_BYTE) {
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goto reset;
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}
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match_header1 = (0 == memcmp(&pktbuf[1], VN_IMU_packet::header, MIN(sizeof(VN_IMU_packet::header), unsigned(pktoffset - 1))));
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if (type == TYPE::VN_AHRS) {
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match_header2 = (0 == memcmp(&pktbuf[1], VN_AHRS_ekf_packet::header, MIN(sizeof(VN_AHRS_ekf_packet::header), unsigned(pktoffset - 1))));
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} else {
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match_header3 = (0 == memcmp(&pktbuf[1], VN_INS_ekf_packet::header, MIN(sizeof(VN_INS_ekf_packet::header), unsigned(pktoffset - 1))));
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match_header4 = (0 == memcmp(&pktbuf[1], VN_INS_gnss_packet::header, MIN(sizeof(VN_INS_gnss_packet::header), unsigned(pktoffset - 1))));
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}
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if (!match_header1 && !match_header2 && !match_header3 && !match_header4) {
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goto reset;
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}
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if (match_header1 && pktoffset >= VN_IMU_LENGTH) {
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uint16_t crc = crc16_ccitt(&pktbuf[1], VN_IMU_LENGTH - 1, 0);
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if (crc == 0) {
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process_imu_packet(&pktbuf[sizeof(VN_IMU_packet::header) + 1]);
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memmove(&pktbuf[0], &pktbuf[VN_IMU_LENGTH], pktoffset - VN_IMU_LENGTH);
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pktoffset -= VN_IMU_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_AHRS_EKF_LENGTH) {
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uint16_t crc = crc16_ccitt(&pktbuf[1], VN_AHRS_EKF_LENGTH - 1, 0);
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if (crc == 0) {
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process_ahrs_ekf_packet(&pktbuf[sizeof(VN_AHRS_ekf_packet::header) + 1]);
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memmove(&pktbuf[0], &pktbuf[VN_AHRS_EKF_LENGTH], pktoffset - VN_AHRS_EKF_LENGTH);
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pktoffset -= VN_AHRS_EKF_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_INS_EKF_LENGTH) {
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uint16_t crc = crc16_ccitt(&pktbuf[1], VN_INS_EKF_LENGTH - 1, 0);
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if (crc == 0) {
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process_ins_ekf_packet(&pktbuf[sizeof(VN_INS_ekf_packet::header) + 1]);
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memmove(&pktbuf[0], &pktbuf[VN_INS_EKF_LENGTH], pktoffset - VN_INS_EKF_LENGTH);
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pktoffset -= VN_INS_EKF_LENGTH;
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} else {
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goto reset;
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}
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} else if (match_header4 && pktoffset >= VN_INS_GNSS_LENGTH) {
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uint16_t crc = crc16_ccitt(&pktbuf[1], VN_INS_GNSS_LENGTH - 1, 0);
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if (crc == 0) {
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process_ins_gnss_packet(&pktbuf[sizeof(VN_INS_gnss_packet::header) + 1]);
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memmove(&pktbuf[0], &pktbuf[VN_INS_GNSS_LENGTH], pktoffset - VN_INS_GNSS_LENGTH);
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pktoffset -= VN_INS_GNSS_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 and wait for response
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// Only run from thread! This blocks and retries until a non-error response is received
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#define READ_REQUEST_RETRY_MS 500
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void AP_ExternalAHRS_VectorNav::run_command(const char * fmt, ...)
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{
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va_list ap;
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va_start(ap, fmt);
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hal.util->vsnprintf(message_to_send, sizeof(message_to_send), fmt, ap);
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va_end(ap);
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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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nmea_printf(uart, "$%s", message_to_send);
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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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if (nmea.error_response && nmea.sentence_done) {
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// Received a valid VNERR. Try to resend after the timeout length
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break;
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}
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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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nmea.error_response = 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 term is valid
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bool AP_ExternalAHRS_VectorNav::decode_latest_term()
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{
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// Check the first two terms (In most cases header + reg number) that they match the sent
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// message. If not, the response is invalid.
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switch (nmea.term_number) {
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case 0:
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if (strncmp(nmea.term, "VNERR", nmea.term_offset) == 0) {
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nmea.error_response = true; // Message will be printed on next term
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} else if (strncmp(nmea.term, message_to_send, nmea.term_offset) != 0) {
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return false;
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}
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return true;
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case 1:
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if (nmea.error_response) {
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GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "VectorNav received VNERR code: %s", nmea.term);
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} else if (strlen(message_to_send) > 6 &&
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strncmp(nmea.term, &message_to_send[6], nmea.term_offset) != 0) { // Start after "VNXXX,"
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return false;
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}
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return true;
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case 2:
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if (strncmp(nmea.term, "VN-", 3) == 0) {
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// This term is the model number
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strncpy(model_name, nmea.term, sizeof(model_name));
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}
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return true;
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default:
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return true;
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}
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}
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void AP_ExternalAHRS_VectorNav::initialize() {
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// Open port in the thread
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uart->begin(baudrate, 1024, 512);
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// Pause asynchronous communications to simplify packet finding
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run_command("VNASY,0");
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// Stop ASCII async outputs for both UARTs. If only active UART is disabled, we get a baudrate
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// overflow on the other UART when configuring binary outputs (reg 75 and 76) to both UARTs
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run_command("VNWRG,06,0,1");
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run_command("VNWRG,06,0,2");
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// Read Model Number Register, ID 1
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run_command("VNRRG,01");
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// Setup for messages respective model types (on both UARTs)
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if (strncmp(model_name, "VN-1", 4) == 0) {
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// VN-1X0
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type = TYPE::VN_AHRS;
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// These assumes unit is still configured at its default rate of 800hz
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run_command("VNWRG,75,3,%u,01,0721", unsigned(800 / get_rate()));
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run_command("VNWRG,76,3,16,11,0001,0106");
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} else {
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// Default to setup for sensors other than VN-100 or VN-110
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// This assumes unit is still configured at its default IMU rate of 400hz for VN-300, 800hz for others
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uint16_t imu_rate = 800; // Default for everything but VN-300
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if (strncmp(model_name, "VN-300", 6) == 0) {
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imu_rate = 400;
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}
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if (strncmp(model_name, "VN-3", 4) == 0) {
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|
has_dual_gnss = true;
|
|
}
|
|
run_command("VNWRG,75,3,%u,01,0721", unsigned(imu_rate / get_rate()));
|
|
run_command("VNWRG,76,3,%u,31,0001,0106,0613", unsigned(imu_rate / 50));
|
|
run_command("VNWRG,77,3,%u,49,0003,26B8,0018", unsigned(imu_rate / 5));
|
|
}
|
|
|
|
// Resume asynchronous communications
|
|
run_command("VNASY,1");
|
|
setup_complete = true;
|
|
}
|
|
|
|
void AP_ExternalAHRS_VectorNav::update_thread() {
|
|
initialize();
|
|
while (true) {
|
|
if (!check_uart()) {
|
|
hal.scheduler->delay(1);
|
|
}
|
|
}
|
|
}
|
|
|
|
const char* AP_ExternalAHRS_VectorNav::get_name() const
|
|
{
|
|
if (setup_complete) {
|
|
return model_name;
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
// Input data struct for EAHA logging message, used by both AHRS mode and INS mode
|
|
struct AP_ExternalAHRS_VectorNav::VNAT {
|
|
uint64_t timeUs;
|
|
float quat[4];
|
|
float ypr[3];
|
|
float yprU[3];
|
|
};
|
|
|
|
|
|
void AP_ExternalAHRS_VectorNav::write_vnat(const VNAT& data_to_log) const {
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
// @LoggerMessage: VNAT
|
|
// @Description: VectorNav Attitude data
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: Q1: Attitude quaternion 1
|
|
// @Field: Q2: Attitude quaternion 2
|
|
// @Field: Q3: Attitude quaternion 3
|
|
// @Field: Q4: Attitude quaternion 4
|
|
// @Field: Yaw: Yaw
|
|
// @Field: Pitch: Pitch
|
|
// @Field: Roll: Roll
|
|
// @Field: YU: Yaw unceratainty
|
|
// @Field: PU: Pitch uncertainty
|
|
// @Field: RU: Roll uncertainty
|
|
|
|
AP::logger().WriteStreaming("VNAT", "TimeUS,Q1,Q2,Q3,Q4,Yaw,Pitch,Roll,YU,PU,RU",
|
|
"s----dddddd", "F0000000000",
|
|
"Qffffffffff",
|
|
data_to_log.timeUs,
|
|
data_to_log.quat[0], data_to_log.quat[1], data_to_log.quat[2], data_to_log.quat[3],
|
|
data_to_log.ypr[0], data_to_log.ypr[1], data_to_log.ypr[2],
|
|
data_to_log.yprU[0], data_to_log.yprU[1], data_to_log.yprU[2]);
|
|
#endif
|
|
}
|
|
|
|
|
|
|
|
// process INS mode INS packet
|
|
void AP_ExternalAHRS_VectorNav::process_imu_packet(const uint8_t *b)
|
|
{
|
|
const struct VN_IMU_packet &pkt = *(struct VN_IMU_packet *)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]};
|
|
}
|
|
}
|
|
|
|
#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;
|
|
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);
|
|
}
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
// @LoggerMessage: VNIM
|
|
// @Description: VectorNav IMU 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
|
|
|
|
AP::logger().WriteStreaming("VNIM", "TimeUS,Temp,Pres,MX,MY,MZ,AX,AY,AZ,GX,GY,GZ",
|
|
"sdPGGGoooEEE", "F00000000000",
|
|
"Qfffffffffff",
|
|
AP_HAL::micros64(),
|
|
pkt.temp, pkt.pressure*1e3,
|
|
pkt.mag[0], pkt.mag[1], 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]);
|
|
#endif // HAL_LOGGING_ENABLED
|
|
}
|
|
|
|
// process AHRS mode AHRS packet
|
|
void AP_ExternalAHRS_VectorNav::process_ahrs_ekf_packet(const uint8_t *b) {
|
|
const struct VN_AHRS_ekf_packet &pkt = *(struct VN_AHRS_ekf_packet *)b;
|
|
|
|
last_pkt2_ms = AP_HAL::millis();
|
|
|
|
state.quat = Quaternion{pkt.quaternion[3], pkt.quaternion[0], pkt.quaternion[1], pkt.quaternion[2]};
|
|
state.have_quaternion = true;
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
VNAT data_to_log;
|
|
data_to_log.timeUs = AP_HAL::micros64();
|
|
memcpy(data_to_log.quat, pkt.quaternion, sizeof(pkt.quaternion));
|
|
memcpy(data_to_log.ypr, pkt.ypr, sizeof(pkt.ypr));
|
|
memcpy(data_to_log.yprU, pkt.yprU, sizeof(pkt.yprU));
|
|
|
|
write_vnat(data_to_log);
|
|
#endif // HAL_LOGGING_ENABLED
|
|
}
|
|
|
|
// process INS mode EKF packet
|
|
void AP_ExternalAHRS_VectorNav::process_ins_ekf_packet(const uint8_t *b) {
|
|
const struct VN_INS_ekf_packet &pkt = *(struct VN_INS_ekf_packet *)b;
|
|
|
|
last_pkt2_ms = AP_HAL::millis();
|
|
*latest_ins_ekf_packet = pkt;
|
|
|
|
state.quat = Quaternion{pkt.quaternion[3], pkt.quaternion[0], pkt.quaternion[1], pkt.quaternion[2]};
|
|
state.have_quaternion = true;
|
|
|
|
state.velocity = Vector3f{pkt.velNed[0], pkt.velNed[1], pkt.velNed[2]};
|
|
state.have_velocity = true;
|
|
|
|
state.location = Location{int32_t(pkt.posLla[0] * 1.0e7), int32_t(pkt.posLla[1] * 1.0e7), int32_t(pkt.posLla[2] * 1.0e2), Location::AltFrame::ABSOLUTE};
|
|
state.last_location_update_us = AP_HAL::micros();
|
|
state.have_location = true;
|
|
|
|
#if HAL_LOGGING_ENABLED
|
|
VNAT data_to_log;
|
|
auto now = AP_HAL::micros64();
|
|
data_to_log.timeUs = now;
|
|
memcpy(data_to_log.quat, pkt.quaternion, sizeof(pkt.quaternion));
|
|
memcpy(data_to_log.ypr, pkt.ypr, sizeof(pkt.ypr));
|
|
memcpy(data_to_log.yprU, pkt.yprU, sizeof(pkt.yprU));
|
|
write_vnat(data_to_log);
|
|
|
|
// @LoggerMessage: VNKF
|
|
// @Description: VectorNav INS Kalman Filter data
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: InsStatus: VectorNav INS health status
|
|
// @Field: Lat: Latitude
|
|
// @Field: Lon: Longitude
|
|
// @Field: Alt: Altitude
|
|
// @Field: VelN: Velocity Northing
|
|
// @Field: VelE: Velocity Easting
|
|
// @Field: VelD: Velocity Downing
|
|
// @Field: PosU: Filter estimated position uncertainty
|
|
// @Field: VelU: Filter estimated Velocity uncertainty
|
|
|
|
AP::logger().WriteStreaming("VNKF", "TimeUS,InsStatus,Lat,Lon,Alt,VelN,VelE,VelD,PosU,VelU",
|
|
"s-ddmnnndn", "F000000000",
|
|
"QHdddfffff",
|
|
now,
|
|
pkt.insStatus,
|
|
pkt.posLla[0], pkt.posLla[1], pkt.posLla[2],
|
|
pkt.velNed[0], pkt.velNed[1], pkt.velNed[2],
|
|
pkt.posU, pkt.velU);
|
|
#endif // HAL_LOGGING_ENABLED
|
|
|
|
}
|
|
|
|
// process INS mode GNSS packet
|
|
void AP_ExternalAHRS_VectorNav::process_ins_gnss_packet(const uint8_t *b) {
|
|
const struct VN_INS_gnss_packet &pkt = *(struct VN_INS_gnss_packet *)b;
|
|
AP_ExternalAHRS::gps_data_message_t gps;
|
|
|
|
|
|
last_pkt3_ms = AP_HAL::millis();
|
|
*latest_ins_gnss_packet = pkt;
|
|
|
|
// get ToW in milliseconds
|
|
gps.gps_week = pkt.timeGps / (AP_MSEC_PER_WEEK * 1000000ULL);
|
|
gps.ms_tow = (pkt.timeGps / 1000000ULL) % (60 * 60 * 24 * 7 * 1000ULL);
|
|
gps.fix_type = pkt.fix1;
|
|
gps.satellites_in_view = pkt.numSats1;
|
|
|
|
gps.horizontal_pos_accuracy = pkt.posU1[0];
|
|
gps.vertical_pos_accuracy = pkt.posU1[2];
|
|
gps.horizontal_vel_accuracy = pkt.velU1;
|
|
|
|
gps.hdop = pkt.dop1[4];
|
|
gps.vdop = pkt.dop1[3];
|
|
|
|
gps.latitude = pkt.posLla1[0] * 1.0e7;
|
|
gps.longitude = pkt.posLla1[1] * 1.0e7;
|
|
gps.msl_altitude = pkt.posLla1[2] * 1.0e2;
|
|
|
|
gps.ned_vel_north = pkt.velNed1[0];
|
|
gps.ned_vel_east = pkt.velNed1[1];
|
|
gps.ned_vel_down = pkt.velNed1[2];
|
|
|
|
if (!state.have_origin && gps.fix_type >= 3) {
|
|
WITH_SEMAPHORE(state.sem);
|
|
state.origin = Location{int32_t(pkt.posLla1[0] * 1.0e7), int32_t(pkt.posLla1[1] * 1.0e7),
|
|
int32_t(pkt.posLla1[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);
|
|
}
|
|
}
|
|
|
|
// 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();
|
|
return (now - last_pkt1_ms < 40) && (now - last_pkt2_ms < 500) && (type == TYPE::VN_AHRS ? true: now - last_pkt3_ms < 1000);
|
|
}
|
|
|
|
bool AP_ExternalAHRS_VectorNav::initialised(void) const
|
|
{
|
|
if (!setup_complete) {
|
|
return false;
|
|
}
|
|
return last_pkt1_ms != UINT32_MAX && last_pkt2_ms != UINT32_MAX && (type == TYPE::VN_AHRS ? true : last_pkt3_ms != UINT32_MAX);
|
|
}
|
|
|
|
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_INS) {
|
|
if (latest_ins_gnss_packet->fix1 < 3) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav no GPS1 lock");
|
|
return false;
|
|
}
|
|
if (has_dual_gnss && (latest_ins_gnss_packet->fix2 < 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));
|
|
status.flags.initalized = initialised();
|
|
if (healthy()) {
|
|
if (type == TYPE::VN_AHRS) {
|
|
status.flags.attitude = true;
|
|
} else {
|
|
status.flags.attitude = true;
|
|
if (latest_ins_ekf_packet) {
|
|
status.flags.vert_vel = true;
|
|
status.flags.vert_pos = true;
|
|
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// send an EKF_STATUS message to GCS
|
|
void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const
|
|
{
|
|
if (!latest_ins_ekf_packet) {
|
|
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_INS_ekf_packet &pkt = *(struct VN_INS_ekf_packet *)latest_ins_ekf_packet;
|
|
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,
|
|
pkt.velU / vel_gate, pkt.posU / pos_gate, pkt.posU / hgt_gate,
|
|
mag_var, 0, 0);
|
|
}
|
|
|
|
#endif // AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
|