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AP_ExternalAHRS: VectorNav: Add support for sensors outside VN-100 an…
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…d VN-300

Includes naming changes to match new broadened usage
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@lashVN @peterbarker
lashVN authored and peterbarker committed Jul 5, 2024
1 parent 1916490 commit 271f08f
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Showing 2 changed files with 86 additions and 76 deletions.
146 changes: 77 additions & 69 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
extern const AP_HAL::HAL &hal;

/*
header for pre-configured 50Hz data
header for 50Hz INS data
assumes the following config for VN-300:
$VNWRG,75,3,8,34,072E,0106,0612*0C
Expand All @@ -66,10 +66,10 @@ extern const AP_HAL::HAL &hal;
VelU
*/
static const uint8_t vn_pkt1_header[] { 0x34, 0x2E, 0x07, 0x06, 0x01, 0x12, 0x06 };
#define VN_PKT1_LENGTH 170 // includes header and CRC
static const uint8_t vn_ins_pkt1_header[] { 0x34, 0x2E, 0x07, 0x06, 0x01, 0x12, 0x06 };
#define VN_INS_PKT1_LENGTH 170 // includes header and CRC

struct PACKED VN_packet1 {
struct PACKED VN_INS_packet1 {
float uncompMag[3];
float uncompAccel[3];
float uncompAngRate[3];
Expand All @@ -87,10 +87,10 @@ struct PACKED VN_packet1 {
};

// check packet size for 4 groups
static_assert(sizeof(VN_packet1)+2+3*2+2 == VN_PKT1_LENGTH, "incorrect VN_packet1 length");
static_assert(sizeof(VN_INS_packet1)+2+3*2+2 == VN_INS_PKT1_LENGTH, "incorrect VN_INS_packet1 length");

/*
header for pre-configured 5Hz data
header for 5Hz GNSS data
assumes the following VN-300 config:
$VNWRG,76,3,80,4E,0002,0010,20B8,0018*63
Expand All @@ -113,10 +113,10 @@ static_assert(sizeof(VN_packet1)+2+3*2+2 == VN_PKT1_LENGTH, "incorrect VN_packet
NumSats
Fix
*/
static const uint8_t vn_pkt2_header[] { 0x4e, 0x02, 0x00, 0x10, 0x00, 0xb8, 0x20, 0x18, 0x00 };
#define VN_PKT2_LENGTH 92 // includes header and CRC
static const uint8_t vn_ins_pkt2_header[] { 0x4e, 0x02, 0x00, 0x10, 0x00, 0xb8, 0x20, 0x18, 0x00 };
#define VN_INS_PKT2_LENGTH 92 // includes header and CRC

struct PACKED VN_packet2 {
struct PACKED VN_INS_packet2 {
uint64_t timeGPS;
float temp;
uint8_t numGPS1Sats;
Expand All @@ -129,10 +129,11 @@ struct PACKED VN_packet2 {
};

// check packet size for 4 groups
static_assert(sizeof(VN_packet2)+2+4*2+2 == VN_PKT2_LENGTH, "incorrect VN_packet2 length");
static_assert(sizeof(VN_INS_packet2)+2+4*2+2 == VN_INS_PKT2_LENGTH, "incorrect VN_INS_packet2 length");

/*
assumes the following VN-300 config:
header for 50Hz IMU data, used in TYPE::VN_AHRS only
assumes the following VN-100 config:
$VNWRG,75,3,80,14,073E,0004*66
Alternate first packet for VN-100
Expand All @@ -151,10 +152,10 @@ static_assert(sizeof(VN_packet2)+2+4*2+2 == VN_PKT2_LENGTH, "incorrect VN_packet
0x0004:
Quaternion
*/
static const uint8_t vn_100_pkt1_header[] { 0x14, 0x3E, 0x07, 0x04, 0x00 };
#define VN_100_PKT1_LENGTH 104 // includes header and CRC
static const uint8_t vn_ahrs_pkt1_header[] { 0x14, 0x3E, 0x07, 0x04, 0x00 };
#define VN_AHRS_PKT1_LENGTH 104 // includes header and CRC

struct PACKED VN_100_packet1 {
struct PACKED VN_AHRS_packet1 {
float uncompMag[3];
float uncompAccel[3];
float uncompAngRate[3];
Expand All @@ -166,7 +167,7 @@ struct PACKED VN_100_packet1 {
float quaternion[4];
};

static_assert(sizeof(VN_100_packet1)+2+2*2+2 == VN_100_PKT1_LENGTH, "incorrect VN_100_packet1 length");
static_assert(sizeof(VN_AHRS_packet1)+2+2*2+2 == VN_AHRS_PKT1_LENGTH, "incorrect VN_AHRS_packet1 length");

// constructor
AP_ExternalAHRS_VectorNav::AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *_frontend,
Expand All @@ -182,12 +183,12 @@ AP_ExternalAHRS_VectorNav::AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *_frontend,
baudrate = sm.find_baudrate(AP_SerialManager::SerialProtocol_AHRS, 0);
port_num = sm.find_portnum(AP_SerialManager::SerialProtocol_AHRS, 0);

bufsize = MAX(MAX(VN_PKT1_LENGTH, VN_PKT2_LENGTH), VN_100_PKT1_LENGTH);
bufsize = MAX(MAX(VN_INS_PKT1_LENGTH, VN_INS_PKT2_LENGTH), VN_AHRS_PKT1_LENGTH);
pktbuf = NEW_NOTHROW uint8_t[bufsize];
last_pkt1 = NEW_NOTHROW VN_packet1;
last_pkt2 = NEW_NOTHROW VN_packet2;
last_ins_pkt1 = NEW_NOTHROW VN_INS_packet1;
last_ins_pkt2 = NEW_NOTHROW VN_INS_packet2;

if (!pktbuf || !last_pkt1 || !last_pkt2) {
if (!pktbuf || !last_ins_pkt1 || !last_ins_pkt2) {
AP_BoardConfig::allocation_error("VectorNav ExternalAHRS");
}

Expand Down Expand Up @@ -230,43 +231,43 @@ bool AP_ExternalAHRS_VectorNav::check_uart()
goto reset;
}

if (type == TYPE::VN_300) {
match_header1 = (0 == memcmp(&pktbuf[1], vn_pkt1_header, MIN(sizeof(vn_pkt1_header), unsigned(pktoffset-1))));
match_header2 = (0 == memcmp(&pktbuf[1], vn_pkt2_header, MIN(sizeof(vn_pkt2_header), unsigned(pktoffset-1))));
if (type == TYPE::VN_INS) {
match_header1 = (0 == memcmp(&pktbuf[1], vn_ins_pkt1_header, MIN(sizeof(vn_ins_pkt1_header), unsigned(pktoffset-1))));
match_header2 = (0 == memcmp(&pktbuf[1], vn_ins_pkt2_header, MIN(sizeof(vn_ins_pkt2_header), unsigned(pktoffset-1))));
} else {
match_header3 = (0 == memcmp(&pktbuf[1], vn_100_pkt1_header, MIN(sizeof(vn_100_pkt1_header), unsigned(pktoffset-1))));
match_header3 = (0 == memcmp(&pktbuf[1], vn_ahrs_pkt1_header, MIN(sizeof(vn_ahrs_pkt1_header), unsigned(pktoffset-1))));
}
if (!match_header1 && !match_header2 && !match_header3) {
goto reset;
}

if (match_header1 && pktoffset >= VN_PKT1_LENGTH) {
uint16_t crc = crc16_ccitt(&pktbuf[1], VN_PKT1_LENGTH-1, 0);
if (match_header1 && pktoffset >= VN_INS_PKT1_LENGTH) {
uint16_t crc = crc16_ccitt(&pktbuf[1], VN_INS_PKT1_LENGTH-1, 0);
if (crc == 0) {
// got pkt1
process_packet1(&pktbuf[sizeof(vn_pkt1_header)+1]);
memmove(&pktbuf[0], &pktbuf[VN_PKT1_LENGTH], pktoffset-VN_PKT1_LENGTH);
pktoffset -= VN_PKT1_LENGTH;
process_ins_packet1(&pktbuf[sizeof(vn_ins_pkt1_header)+1]);
memmove(&pktbuf[0], &pktbuf[VN_INS_PKT1_LENGTH], pktoffset-VN_INS_PKT1_LENGTH);
pktoffset -= VN_INS_PKT1_LENGTH;
} else {
goto reset;
}
} else if (match_header2 && pktoffset >= VN_PKT2_LENGTH) {
uint16_t crc = crc16_ccitt(&pktbuf[1], VN_PKT2_LENGTH-1, 0);
} else if (match_header2 && pktoffset >= VN_INS_PKT2_LENGTH) {
uint16_t crc = crc16_ccitt(&pktbuf[1], VN_INS_PKT2_LENGTH-1, 0);
if (crc == 0) {
// got pkt2
process_packet2(&pktbuf[sizeof(vn_pkt2_header)+1]);
memmove(&pktbuf[0], &pktbuf[VN_PKT2_LENGTH], pktoffset-VN_PKT2_LENGTH);
pktoffset -= VN_PKT2_LENGTH;
process_ins_packet2(&pktbuf[sizeof(vn_ins_pkt2_header)+1]);
memmove(&pktbuf[0], &pktbuf[VN_INS_PKT2_LENGTH], pktoffset-VN_INS_PKT2_LENGTH);
pktoffset -= VN_INS_PKT2_LENGTH;
} else {
goto reset;
}
} else if (match_header3 && pktoffset >= VN_100_PKT1_LENGTH) {
uint16_t crc = crc16_ccitt(&pktbuf[1], VN_100_PKT1_LENGTH-1, 0);
} else if (match_header3 && pktoffset >= VN_AHRS_PKT1_LENGTH) {
uint16_t crc = crc16_ccitt(&pktbuf[1], VN_AHRS_PKT1_LENGTH-1, 0);
if (crc == 0) {
// got VN-100 pkt1
process_packet_VN_100(&pktbuf[sizeof(vn_100_pkt1_header)+1]);
memmove(&pktbuf[0], &pktbuf[VN_100_PKT1_LENGTH], pktoffset-VN_100_PKT1_LENGTH);
pktoffset -= VN_100_PKT1_LENGTH;
// got AHRS pkt
process_ahrs_packet(&pktbuf[sizeof(vn_ahrs_pkt1_header)+1]);
memmove(&pktbuf[0], &pktbuf[VN_AHRS_PKT1_LENGTH], pktoffset-VN_AHRS_PKT1_LENGTH);
pktoffset -= VN_AHRS_PKT1_LENGTH;
} else {
goto reset;
}
Expand Down Expand Up @@ -414,18 +415,25 @@ void AP_ExternalAHRS_VectorNav::update_thread()
wait_register_responce(1);

// Setup for messages respective model types (on both UARTs)
if (strncmp(model_name, "VN-100", 6) == 0) {
if (strncmp(model_name, "VN-1", 4) == 0) {
// VN-100
type = TYPE::VN_100;
type = TYPE::VN_AHRS;

// This assumes unit is still configured at its default rate of 800hz
nmea_printf(uart, "$VNWRG,75,3,%u,14,073E,0004", unsigned(800/get_rate()));

} else {
// Default to Setup for VN-300 series
// This assumes unit is still configured at its default rate of 400hz
nmea_printf(uart, "$VNWRG,75,3,%u,34,072E,0106,0612", unsigned(400/get_rate()));
nmea_printf(uart, "$VNWRG,76,3,80,4E,0002,0010,20B8,0018");
// Default to setup for sensors other than VN-100 or VN-110
// This assumes unit is still configured at its default IMU rate of 400hz for VN-300, 800hz for others
uint16_t imu_rate = 800; // Default for everything but VN-300
if (strncmp(model_name, "VN-300", 6) == 0) {
imu_rate = 400;
}
if (strncmp(model_name, "VN-3", 4) == 0) {
has_dual_gnss = true;
}
nmea_printf(uart, "$VNWRG,75,3,%u,34,072E,0106,0612", unsigned(imu_rate/get_rate()));
nmea_printf(uart, "$VNWRG,76,3,%u,4E,0002,0010,20B8,0018", unsigned(imu_rate/5));
}

setup_complete = true;
Expand All @@ -445,15 +453,15 @@ const char* AP_ExternalAHRS_VectorNav::get_name() const
}

/*
process packet type 1
process INS mode INS packet
*/
void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
void AP_ExternalAHRS_VectorNav::process_ins_packet1(const uint8_t *b)
{
const struct VN_packet1 &pkt1 = *(struct VN_packet1 *)b;
const struct VN_packet2 &pkt2 = *last_pkt2;
const struct VN_INS_packet1 &pkt1 = *(struct VN_INS_packet1 *)b;
const struct VN_INS_packet2 &pkt2 = *last_ins_pkt2;

last_pkt1_ms = AP_HAL::millis();
*last_pkt1 = pkt1;
*last_ins_pkt1 = pkt1;

const bool use_uncomp = option_is_set(AP_ExternalAHRS::OPTIONS::VN_UNCOMP_IMU);

Expand Down Expand Up @@ -514,15 +522,15 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
}

/*
process packet type 2
process INS mode GNSS packet
*/
void AP_ExternalAHRS_VectorNav::process_packet2(const uint8_t *b)
void AP_ExternalAHRS_VectorNav::process_ins_packet2(const uint8_t *b)
{
const struct VN_packet2 &pkt2 = *(struct VN_packet2 *)b;
const struct VN_packet1 &pkt1 = *last_pkt1;
const struct VN_INS_packet2 &pkt2 = *(struct VN_INS_packet2 *)b;
const struct VN_INS_packet1 &pkt1 = *last_ins_pkt1;

last_pkt2_ms = AP_HAL::millis();
*last_pkt2 = pkt2;
*last_ins_pkt2 = pkt2;

AP_ExternalAHRS::gps_data_message_t gps;

Expand Down Expand Up @@ -562,11 +570,11 @@ void AP_ExternalAHRS_VectorNav::process_packet2(const uint8_t *b)
}

/*
process VN-100 packet type 1
process AHRS mode AHRS packet
*/
void AP_ExternalAHRS_VectorNav::process_packet_VN_100(const uint8_t *b)
void AP_ExternalAHRS_VectorNav::process_ahrs_packet(const uint8_t *b)
{
const struct VN_100_packet1 &pkt = *(struct VN_100_packet1 *)b;
const struct VN_AHRS_packet1 &pkt = *(struct VN_AHRS_packet1 *)b;

last_pkt1_ms = AP_HAL::millis();

Expand Down Expand Up @@ -669,7 +677,7 @@ int8_t AP_ExternalAHRS_VectorNav::get_port(void) const
bool AP_ExternalAHRS_VectorNav::healthy(void) const
{
const uint32_t now = AP_HAL::millis();
if (type == TYPE::VN_100) {
if (type == TYPE::VN_AHRS) {
return (now - last_pkt1_ms < 40);
}
return (now - last_pkt1_ms < 40 && now - last_pkt2_ms < 500);
Expand All @@ -680,7 +688,7 @@ bool AP_ExternalAHRS_VectorNav::initialised(void) const
if (!setup_complete) {
return false;
}
if (type == TYPE::VN_100) {
if (type == TYPE::VN_AHRS) {
return last_pkt1_ms != 0;
}
return last_pkt1_ms != 0 && last_pkt2_ms != 0;
Expand All @@ -696,12 +704,12 @@ bool AP_ExternalAHRS_VectorNav::pre_arm_check(char *failure_msg, uint8_t failure
hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav unhealthy");
return false;
}
if (type == TYPE::VN_300) {
if (last_pkt2->GPS1Fix < 3) {
if (type == TYPE::VN_INS) {
if (last_ins_pkt2->GPS1Fix < 3) {
hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav no GPS1 lock");
return false;
}
if (last_pkt2->GPS2Fix < 3) {
if (has_dual_gnss && (last_ins_pkt2->GPS2Fix < 3)) {
hal.util->snprintf(failure_msg, failure_msg_len, "VectorNav no GPS2 lock");
return false;
}
Expand All @@ -716,16 +724,16 @@ bool AP_ExternalAHRS_VectorNav::pre_arm_check(char *failure_msg, uint8_t failure
void AP_ExternalAHRS_VectorNav::get_filter_status(nav_filter_status &status) const
{
memset(&status, 0, sizeof(status));
if (type == TYPE::VN_300) {
if (last_pkt1 && last_pkt2) {
if (type == TYPE::VN_INS) {
if (last_ins_pkt1 && last_ins_pkt2) {
status.flags.initalized = true;
}
if (healthy() && last_pkt2) {
if (healthy() && last_ins_pkt2) {
status.flags.attitude = true;
status.flags.vert_vel = true;
status.flags.vert_pos = true;

const struct VN_packet2 &pkt2 = *last_pkt2;
const struct VN_INS_packet2 &pkt2 = *last_ins_pkt2;
if (pkt2.GPS1Fix >= 3) {
status.flags.horiz_vel = true;
status.flags.horiz_pos_rel = true;
Expand All @@ -746,7 +754,7 @@ void AP_ExternalAHRS_VectorNav::get_filter_status(nav_filter_status &status) con
// send an EKF_STATUS message to GCS
void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const
{
if (!last_pkt1) {
if (!last_ins_pkt1) {
return;
}
// prepare flags
Expand Down Expand Up @@ -788,7 +796,7 @@ void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const
}

// send message
const struct VN_packet1 &pkt1 = *(struct VN_packet1 *)last_pkt1;
const struct VN_INS_packet1 &pkt1 = *(struct VN_INS_packet1 *)last_ins_pkt1;
const float vel_gate = 5;
const float pos_gate = 5;
const float hgt_gate = 5;
Expand Down
16 changes: 9 additions & 7 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -61,26 +61,28 @@ class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend {
void update_thread();
bool check_uart();

void process_packet1(const uint8_t *b);
void process_packet2(const uint8_t *b);
void process_packet_VN_100(const uint8_t *b);
void process_ins_packet1(const uint8_t *b);
void process_ins_packet2(const uint8_t *b);
void process_ahrs_packet(const uint8_t *b);
void wait_register_responce(const uint8_t register_num);

uint8_t *pktbuf;
uint16_t pktoffset;
uint16_t bufsize;

struct VN_packet1 *last_pkt1;
struct VN_packet2 *last_pkt2;
struct VN_INS_packet1 *last_ins_pkt1;
struct VN_INS_packet2 *last_ins_pkt2;

uint32_t last_pkt1_ms;
uint32_t last_pkt2_ms;

enum class TYPE {
VN_300,
VN_100,
VN_INS, // Full INS mode, requiring GNSS. Used by VN-2X0 and VN-3X0
VN_AHRS, // IMU-only mode, used by VN-1X0
} type;

bool has_dual_gnss = false;

char model_name[25];

// NMEA parsing for setup
Expand Down

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