mirror of https://github.com/ArduPilot/ardupilot
151 lines
3.7 KiB
C++
151 lines
3.7 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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suppport for serial connected AHRS systems
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Common/Location.h>
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#include <AP_NavEKF/AP_Nav_Common.h>
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#ifndef HAL_EXTERNAL_AHRS_ENABLED
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#define HAL_EXTERNAL_AHRS_ENABLED !HAL_MINIMIZE_FEATURES && !defined(HAL_BUILD_AP_PERIPH) && BOARD_FLASH_SIZE > 1024
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#endif
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#if HAL_EXTERNAL_AHRS_ENABLED
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#include <GCS_MAVLink/GCS_MAVLink.h>
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class AP_ExternalAHRS_backend;
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class AP_ExternalAHRS {
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public:
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friend class AP_ExternalAHRS_backend;
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AP_ExternalAHRS();
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void init(void);
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static const struct AP_Param::GroupInfo var_info[];
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enum class DevType : uint8_t {
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None = 0,
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VecNav = 1,
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LORD = 2,
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};
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static AP_ExternalAHRS *get_singleton(void) {
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return _singleton;
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}
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// expected IMU rate in Hz
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float get_IMU_rate(void) const {
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return rate.get();
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}
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// get serial port number, -1 for not enabled
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int8_t get_port(void) const;
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struct state_t {
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HAL_Semaphore sem;
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Vector3f accel;
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Vector3f gyro;
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Quaternion quat;
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Location location;
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Vector3f velocity;
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Location origin;
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bool have_quaternion;
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bool have_origin;
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bool have_location;
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bool have_velocity;
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} state;
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// accessors for AP_AHRS
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bool healthy(void) const;
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bool initialised(void) const;
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bool get_quaternion(Quaternion &quat);
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bool get_origin(Location &loc);
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bool get_location(Location &loc);
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Vector2f get_groundspeed_vector();
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bool get_velocity_NED(Vector3f &vel);
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bool get_speed_down(float &speedD);
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bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;
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void get_filter_status(nav_filter_status &status) const;
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Vector3f get_gyro(void);
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Vector3f get_accel(void);
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void send_status_report(mavlink_channel_t chan) const;
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// update backend
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void update();
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/*
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structures passed to other subsystems
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*/
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typedef struct {
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uint8_t instance;
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float pressure_pa;
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float temperature;
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} baro_data_message_t;
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typedef struct {
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Vector3f field;
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} mag_data_message_t;
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typedef struct {
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uint16_t gps_week; // GPS week, 0xFFFF if not available
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uint32_t ms_tow;
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uint8_t fix_type;
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uint8_t satellites_in_view;
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float horizontal_pos_accuracy;
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float vertical_pos_accuracy;
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float horizontal_vel_accuracy;
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float hdop;
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float vdop;
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int32_t longitude;
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int32_t latitude;
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int32_t msl_altitude; // cm
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float ned_vel_north;
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float ned_vel_east;
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float ned_vel_down;
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} gps_data_message_t;
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typedef struct {
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Vector3f accel;
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Vector3f gyro;
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float temperature;
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} ins_data_message_t;
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private:
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AP_ExternalAHRS_backend *backend;
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AP_Enum<DevType> devtype;
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AP_Int16 rate;
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static AP_ExternalAHRS *_singleton;
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};
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namespace AP {
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AP_ExternalAHRS &externalAHRS();
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};
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#endif // HAL_EXTERNAL_AHRS_ENABLED
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