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AP_AHRS: UAVCAN publishing of attitude and location

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DOMINATOR\Eugene 2017-11-15 16:35:45 +02:00 committed by Tom Pittenger
parent c642deafde
commit 2f7196d71f
1 changed files with 17 additions and 0 deletions
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17
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -25,6 +25,10 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Module/AP_Module.h> #include <AP_Module/AP_Module.h>
#if HAL_WITH_UAVCAN
#include <AP_UAVCAN/AP_UAVCAN.h>
#endif
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -121,6 +125,19 @@ void AP_AHRS_NavEKF::update(bool skip_ins_update)
// update optional alternative attitude view // update optional alternative attitude view
_view->update(skip_ins_update); _view->update(skip_ins_update);
} }
#if HAL_WITH_UAVCAN
if (hal.can_mgr != nullptr) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] != nullptr) {
AP_UAVCAN *ap_uavcan = hal.can_mgr[i]->get_UAVCAN();
if (ap_uavcan != nullptr && ap_uavcan->need_AHRS_update()) {
ap_uavcan->UAVCAN_AHRS_update(*this);
}
}
}
}
#endif
} }
void AP_AHRS_NavEKF::update_DCM(bool skip_ins_update) void AP_AHRS_NavEKF::update_DCM(bool skip_ins_update)