aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_AHRS: create and use an AP_AHRS_EXTERNAL_ENABLED

Browse Source
This commit is contained in:
Peter Barker 2023-11-28 12:13:11 +11:00 committed by Andrew Tridgell
parent 0c98369fd5
commit 0850a5fa43
5 changed files with 76 additions and 69 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

126
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -252,7 +252,7 @@ void AP_AHRS::init()
#if AP_AHRS_DCM_ENABLED
dcm.init();
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
external.init();
#endif
@ -321,7 +321,7 @@ void AP_AHRS::reset_gyro_drift(void)
#if AP_AHRS_DCM_ENABLED
dcm.reset_gyro_drift();
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
external.reset_gyro_drift();
#endif
@ -400,7 +400,7 @@ void AP_AHRS::update(bool skip_ins_update)
update_SITL();
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
update_external();
#endif
@ -458,7 +458,7 @@ void AP_AHRS::update(bool skip_ins_update)
shortname = "SIM";
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
shortname = "External";
break;
@ -685,7 +685,7 @@ void AP_AHRS::update_EKF3(void)
}
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
void AP_AHRS::update_external(void)
{
external.update();
@ -695,7 +695,7 @@ void AP_AHRS::update_external(void)
copy_estimates_from_backend_estimates(external_estimates);
}
}
#endif // HAL_EXTERNAL_AHRS_ENABLED
#endif // AP_AHRS_EXTERNAL_ENABLED
void AP_AHRS::reset()
{
@ -709,7 +709,7 @@ void AP_AHRS::reset()
sim.reset();
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
external.reset();
#endif
@ -754,7 +754,7 @@ bool AP_AHRS::_get_location(Location &loc) const
return sim_estimates.get_location(loc);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external_estimates.get_location(loc);
#endif
@ -812,7 +812,7 @@ bool AP_AHRS::_wind_estimate(Vector3f &wind) const
return EKF3.getWind(wind);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.wind_estimate(wind);
#endif
@ -942,7 +942,7 @@ bool AP_AHRS::_airspeed_estimate(float &airspeed_ret, AirspeedEstimateType &airs
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#if AP_AHRS_DCM_ENABLED
airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
@ -996,7 +996,7 @@ bool AP_AHRS::_airspeed_estimate_true(float &airspeed_ret) const
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
break;
@ -1033,7 +1033,7 @@ bool AP_AHRS::_airspeed_vector_true(Vector3f &vec) const
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
@ -1065,7 +1065,7 @@ bool AP_AHRS::airspeed_health_data(float &innovation, float &innovationVariance,
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
@ -1108,7 +1108,7 @@ bool AP_AHRS::use_compass(void)
return sim.use_compass();
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
@ -1155,7 +1155,7 @@ bool AP_AHRS::_get_quaternion(Quaternion &quat) const
}
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// we assume the external AHRS isn't trimmed with the autopilot!
return external.get_quaternion(quat);
@ -1206,7 +1206,7 @@ bool AP_AHRS::_get_secondary_attitude(Vector3f &eulers) const
return false;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
// External is secondary
eulers[0] = external_estimates.roll_rad;
@ -1267,7 +1267,7 @@ bool AP_AHRS::_get_secondary_quaternion(Quaternion &quat) const
return false;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// External is secondary
return external.get_quaternion(quat);
@ -1319,7 +1319,7 @@ bool AP_AHRS::_get_secondary_position(Location &loc) const
return false;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// External is secondary
return external_estimates.get_location(loc);
@ -1359,7 +1359,7 @@ Vector2f AP_AHRS::_groundspeed_vector(void)
case EKFType::SIM:
return sim.groundspeed_vector();
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
return external.groundspeed_vector();
}
@ -1383,7 +1383,7 @@ float AP_AHRS::_groundspeed(void)
case EKFType::THREE:
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
@ -1431,7 +1431,7 @@ bool AP_AHRS::set_origin(const Location &loc)
// simulation backend
return false;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// don't allow origin set with external AHRS
return false;
@ -1485,7 +1485,7 @@ bool AP_AHRS::_get_velocity_NED(Vector3f &vec) const
case EKFType::SIM:
return sim.get_velocity_NED(vec);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_velocity_NED(vec);
#endif
@ -1520,7 +1520,7 @@ bool AP_AHRS::get_mag_field_NED(Vector3f &vec) const
case EKFType::SIM:
return false;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
@ -1552,7 +1552,7 @@ bool AP_AHRS::get_mag_field_correction(Vector3f &vec) const
case EKFType::SIM:
return false;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
@ -1587,7 +1587,7 @@ bool AP_AHRS::get_vert_pos_rate_D(float &velocity) const
case EKFType::SIM:
return sim.get_vert_pos_rate_D(velocity);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_vert_pos_rate_D(velocity);
#endif
@ -1618,7 +1618,7 @@ bool AP_AHRS::get_hagl(float &height) const
case EKFType::SIM:
return sim.get_hagl(height);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
return false;
}
@ -1672,7 +1672,7 @@ bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const
case EKFType::SIM:
return sim.get_relative_position_NED_origin(vec);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
return external.get_relative_position_NED_origin(vec);
}
@ -1725,7 +1725,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
return sim.get_relative_position_NE_origin(posNE);
}
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_relative_position_NE_origin(posNE);
#endif
@ -1780,7 +1780,7 @@ bool AP_AHRS::get_relative_position_D_origin(float &posD) const
case EKFType::SIM:
return sim.get_relative_position_D_origin(posD);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_relative_position_D_origin(posD);
#endif
@ -1832,7 +1832,7 @@ AP_AHRS::EKFType AP_AHRS::ekf_type(void) const
case EKFType::SIM:
return type;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return type;
#endif
@ -1923,7 +1923,7 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
ret = EKFType::SIM;
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
ret = EKFType::EXTERNAL;
break;
@ -1957,7 +1957,7 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
get_filter_status(filt_state);
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
get_filter_status(filt_state);
should_use_gps = true;
@ -2053,7 +2053,7 @@ AP_AHRS::EKFType AP_AHRS::fallback_active_EKF_type(void) const
}
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
if (external.healthy()) {
return EKFType::EXTERNAL;
}
@ -2064,7 +2064,7 @@ AP_AHRS::EKFType AP_AHRS::fallback_active_EKF_type(void) const
return EKFType::THREE;
#elif HAL_NAVEKF2_AVAILABLE
return EKFType::TWO;
#elif HAL_EXTERNAL_AHRS_ENABLED
#elif AP_AHRS_EXTERNAL_ENABLED
return EKFType::EXTERNAL;
#endif
}
@ -2089,7 +2089,7 @@ bool AP_AHRS::_get_secondary_EKF_type(EKFType &secondary_ekf_type) const
return true;
}
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
if ((EKFType)_ekf_type.get() == EKFType::EXTERNAL) {
secondary_ekf_type = EKFType::EXTERNAL;
return true;
@ -2106,7 +2106,7 @@ bool AP_AHRS::_get_secondary_EKF_type(EKFType &secondary_ekf_type) const
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
// DCM is secondary
@ -2171,7 +2171,7 @@ bool AP_AHRS::healthy(void) const
case EKFType::SIM:
return sim.healthy();
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.healthy();
#endif
@ -2192,7 +2192,7 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
ret = false;
}
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
// Always check external AHRS if enabled
// it is a source for IMU data even if not being used as direct AHRS replacement
if (AP::externalAHRS().enabled() || (ekf_type() == EKFType::EXTERNAL)) {
@ -2223,7 +2223,7 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
return dcm.pre_arm_check(requires_position, failure_msg, failure_msg_len) && ret;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.pre_arm_check(requires_position, failure_msg, failure_msg_len);
#endif
@ -2277,7 +2277,7 @@ bool AP_AHRS::initialised(void) const
case EKFType::SIM:
return true;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.initialised();
#endif
@ -2310,7 +2310,7 @@ bool AP_AHRS::get_filter_status(nav_filter_status &status) const
case EKFType::SIM:
return sim.get_filter_status(status);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_filter_status(status);
#endif
@ -2407,7 +2407,7 @@ void AP_AHRS::getControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler
sim.get_control_limits(ekfGndSpdLimit, ekfNavVelGainScaler);
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// no limit on gains, large vel limit
ekfGndSpdLimit = 400;
@ -2455,7 +2455,7 @@ bool AP_AHRS::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
case EKFType::SIM:
return sim.get_mag_offsets(mag_idx, magOffsets);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
@ -2490,7 +2490,7 @@ void AP_AHRS::_getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const
case EKFType::SIM:
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
@ -2634,7 +2634,7 @@ uint32_t AP_AHRS::getLastYawResetAngle(float &yawAng)
case EKFType::SIM:
return sim.getLastYawResetAngle(yawAng);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.getLastYawResetAngle(yawAng);
#endif
@ -2667,7 +2667,7 @@ uint32_t AP_AHRS::getLastPosNorthEastReset(Vector2f &pos)
case EKFType::SIM:
return sim.getLastPosNorthEastReset(pos);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return 0;
#endif
@ -2700,7 +2700,7 @@ uint32_t AP_AHRS::getLastVelNorthEastReset(Vector2f &vel) const
case EKFType::SIM:
return sim.getLastVelNorthEastReset(vel);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return 0;
#endif
@ -2733,7 +2733,7 @@ uint32_t AP_AHRS::getLastPosDownReset(float &posDelta)
case EKFType::SIM:
return sim.getLastPosDownReset(posDelta);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return 0;
#endif
@ -2784,7 +2784,7 @@ bool AP_AHRS::resetHeightDatum(void)
case EKFType::SIM:
return sim.resetHeightDatum();
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
@ -2808,7 +2808,7 @@ void AP_AHRS::send_ekf_status_report(GCS_MAVLINK &link) const
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
external.send_ekf_status_report(link);
break;
@ -2851,7 +2851,7 @@ bool AP_AHRS::_get_origin(EKFType type, Location &ret) const
case EKFType::SIM:
return sim.get_origin(ret);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_origin(ret);
#endif
@ -2960,7 +2960,7 @@ bool AP_AHRS::get_hgt_ctrl_limit(float& limit) const
case EKFType::SIM:
return sim.get_hgt_ctrl_limit(limit);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
@ -3027,7 +3027,7 @@ bool AP_AHRS::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &
return sim.get_innovations(velInnov, posInnov, magInnov, tasInnov, yawInnov);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
@ -3053,7 +3053,7 @@ bool AP_AHRS::is_vibration_affected() const
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
return false;
@ -3095,7 +3095,7 @@ bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3
return sim.get_variances(velVar, posVar, hgtVar, magVar, tasVar);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
@ -3133,7 +3133,7 @@ bool AP_AHRS::get_vel_innovations_and_variances_for_source(uint8_t source, Vecto
return false;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
@ -3194,7 +3194,7 @@ uint8_t AP_AHRS::_get_primary_IMU_index() const
case EKFType::SIM:
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
@ -3219,7 +3219,7 @@ int8_t AP_AHRS::_get_primary_core_index() const
// we have only one core
return 0;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// we have only one core
return 0;
@ -3267,7 +3267,7 @@ void AP_AHRS::check_lane_switch(void)
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
@ -3299,7 +3299,7 @@ void AP_AHRS::request_yaw_reset(void)
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
@ -3371,7 +3371,7 @@ bool AP_AHRS::using_noncompass_for_yaw(void) const
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
return false;
@ -3398,7 +3398,7 @@ bool AP_AHRS::using_extnav_for_yaw(void) const
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
return false;
@ -3441,7 +3441,7 @@ const EKFGSF_yaw *AP_AHRS::get_yaw_estimator(void) const
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
return nullptr;

6
libraries/AP_AHRS/AP_AHRS.h
View File

@ -443,7 +443,7 @@ public:
#if AP_AHRS_SIM_ENABLED
SIM = 10,
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
EXTERNAL = 11,
#endif
};
@ -800,7 +800,7 @@ private:
void update_SITL(void);
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
void update_external(void);
#endif
@ -1002,7 +1002,7 @@ private:
struct AP_AHRS_Backend::Estimates sim_estimates;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
AP_AHRS_External external;
struct AP_AHRS_Backend::Estimates external_estimates;
#endif

2
libraries/AP_AHRS/AP_AHRS_External.cpp
View File

@ -1,6 +1,6 @@
#include "AP_AHRS_External.h"
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include <AP_AHRS/AP_AHRS.h>

6
libraries/AP_AHRS/AP_AHRS_External.h
View File

@ -21,9 +21,11 @@
*
*/
#include "AP_AHRS_Backend.h"
#include "AP_AHRS_config.h"
#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_AHRS_EXTERNAL_ENABLED
#include "AP_AHRS_Backend.h"
class AP_AHRS_External : public AP_AHRS_Backend {
public:

5
libraries/AP_AHRS/AP_AHRS_config.h
View File

@ -2,6 +2,7 @@
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_InertialSensor/AP_InertialSensor_config.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
#ifndef AP_AHRS_ENABLED
#define AP_AHRS_ENABLED 1
@ -15,6 +16,10 @@
#define AP_AHRS_DCM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
#endif
#ifndef AP_AHRS_EXTERNAL_ENABLED
#define AP_AHRS_EXTERNAL_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && HAL_EXTERNAL_AHRS_ENABLED
#endif
#ifndef HAL_NAVEKF2_AVAILABLE
// EKF2 slated compiled out by default in 4.5, slated to be removed.
#define HAL_NAVEKF2_AVAILABLE 0