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AP_ExternalAHRS_AdvancedNavigation #23267

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AP_ExternalAHRS_AdvancedNavigation #23267

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AN-DanielCook
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This PR Adds External AHRS support to Advanced Navigation Devices using the Advanced Navigation Packet Protocol.

when EAHRS_TYPE = 3 (AdNav) the new module will load and run. A SITL Emulator of a ANPP Device has also been added for easier testing in the absence of hardware.

@AN-DanielCook AN-DanielCook force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from 6988e35 to 09edfeb Compare March 21, 2023 06:14
peterbarker
peterbarker requested changes Mar 21, 2023
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Light review only.

I'm concerned with the complexity of assembling messages to send - and all of the runtime allocations/deallocations in general. Others may not be as concerned, so don't feel you need to jump straight to doing something better.

I'm happy to discuss the other parsers/message assemblers I've pointed to. There might be something I've missed in your wire format which makes that solution unworkable.

libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.h Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.h Outdated Show resolved Hide resolved
libraries/SITL/SIM_AdNav.cpp Show resolved Hide resolved
libraries/SITL/SIM_AdNav.cpp Show resolved Hide resolved
libraries/SITL/SIM_AdNav.cpp Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
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tridge commented Mar 22, 2023

@AN-DanielCook great to see this driver, thanks. As @peterbarker says, this needs some substantial re-work. That re-work will be made much easier because you've done a simulator, which is great!
If you need help with the re-work please reach out (though would need to be after the conference)

@tridge tridge removed the DevCallEU label Mar 22, 2023
@AN-DanielCook AN-DanielCook force-pushed the AP_ExternalAHRS_AdvancedNavigation branch 4 times, most recently from 21046c7 to 36da5f1 Compare April 24, 2023 04:51
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Sorry I've only recently had some time to come back and apply changes to this. If you are happy with the structural changes in the driver i will apply them to the simulator also.

@AN-DanielCook AN-DanielCook force-pushed the AP_ExternalAHRS_AdvancedNavigation branch 2 times, most recently from 1d6651b to d75bf5e Compare April 24, 2023 07:01
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Wow, this is looking much nicer!

Again, sorry, partial review only - out of time for today. I'm definitely coming back to that parser :-)

Also note I've pushed up #23588 to make our defines in here conform a bit better to our current norms in terms of backend defines.

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libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
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libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
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@AN-DanielCook AN-DanielCook force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from d75bf5e to c5879b4 Compare May 2, 2023 06:04
@tridge tridge force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from c5879b4 to 71f7bf0 Compare September 21, 2023 07:59
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tridge commented Sep 21, 2023

@AN-DanielCook @peterbarker I've rebased, fixing conflicts and fixed a few other bugs. sim_vehicle.py now works like this:
sim_vehicle.py -D -G --console --map -A --serial2=sim:AdNav
Some key changes:

  • lat/lon was ordered opposite in driver and simulator. I've changed the simulator, but it could be the driver that is wrong
  • the simulator was sending 50Hz GPS, which is much too high. If the real device sends 50Hz GPS we will need to downsample in the driver
  • time handling was broken

@AN-DanielCook AN-DanielCook force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from 71f7bf0 to f613a2f Compare November 10, 2023 04:12
@tridge tridge added the Driver label Nov 29, 2023
@tridge tridge force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from f613a2f to 373cd93 Compare December 2, 2023 01:13
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tridge commented Dec 2, 2023

@AN-DanielCook I pushed a few fixes to this PR today

@tridge tridge force-pushed the AP_ExternalAHRS_AdvancedNavigation branch 2 times, most recently from d76f703 to b3c2271 Compare February 15, 2024 23:39
@AN-DanielCook AN-DanielCook force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from 11996da to 18a812c Compare February 26, 2024 02:21
@tridge tridge mentioned this pull request Feb 26, 2024
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@tridge tridge force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from e2e9003 to e4e29e5 Compare March 11, 2024 03:38
@tridge tridge force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from 7c83b9e to 856cf12 Compare April 17, 2024 06:28
@AN-DanielCook AN-DanielCook force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from ed53197 to 41423cd Compare May 20, 2024 04:55
@AN-DanielCook AN-DanielCook requested a review from peterbarker May 21, 2024 23:39
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These may be out of date

libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS.h Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp Outdated Show resolved Hide resolved
@AN-DanielCook AN-DanielCook requested a review from peterbarker May 28, 2024 07:16
@AN-DanielCook AN-DanielCook force-pushed the AP_ExternalAHRS_AdvancedNavigation branch 2 times, most recently from 2bb0a98 to fc9529c Compare May 29, 2024 04:02
@AN-DanielCook AN-DanielCook force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from fc9529c to d28306b Compare August 7, 2024 02:20
AN-DanielCook and others added 14 commits August 15, 2024 14:34
@AN-DanielCook @tridge
AP_HAL_SITL: Added Software simulation for Advanced Navigation Devices.
93bc5e1 
Adds ability for SITL Simulation of an AdNav device to be used by making a simulated serial port.
Changes create a SITL::AdNav class when requested on the command line
@AN-DanielCook @tridge
SITL: Added Simulation for Advanced Navigation Devices
1669350 
Added a SITL::AdNav class to emulate a ANPP Device communicating with the Advanced Navigation External AHRS module
@tridge
Tools: added AdvancedNavigationEAHRS auto test
ec348f8
@tridge
AP_ExternalAHRS: Added Advanced Navigation Device Support
76005b7 
EAHRS_TYPE: 3 (AdNav) has been added to the AP_External_AHRS.h/.cpp files.
New Class AP_ExternalAHRS_AdvancedNavigation added in new .cpp/.h files.
Supports any Advanced Navigation Packet Protocol (ANPP) device with different devices having slight behaviour changes.
@AN-DanielCook @tridge
AP_EXTERNAL_AHRS: Add funciton definitions to change Adnav filter set…
47c5d1b 
…tings
@AN-DanielCook @tridge
AP_ExternalAHRS: Added filter updates for advanced navigation devices
c2b77a5 
When running EAHRS update it will now check for flight mode and gnss enable and request the appropriate changes in the device filter.
@AN-DanielCook @tridge
AP_ExternalAHRS: Fixed ANPP Msg Formatting issues
2754a5c
@tridge
AP_ExternalAHRS: fixed origin and latlon scale for AdNav driver
982453b
@AN-DanielCook @tridge
AP_ExternalAHRS: Fixed formatting and comments
0879d58
@AN-DanielCook @tridge
AP_ExternalAHRS: Added Airspeed Aiding for AdNav Devices and fixed so…
e8ceb5c 
…me bugs
@AN-DanielCook @tridge
AP_ExternalAHRS: Added num_gps_sensors to fix abstract class errors
c69f5a7
@AN-DanielCook @tridge
AP_ExternalAHRS: Added Acknowledgement GCS Messages for AdNav
d29c487 
Applied PR Suggestions
@AN-DanielCook @tridge
AP_STIL: Fixed AP_BARO calls in SIM_AdNAV
b4e7686
@AN-DanielCook @tridge
AP_ExternalAHRS_AdvancedNavigation: Rearranged the way initialization…
720f8a4 
… is handled to prevent locking of thread.
@tridge tridge force-pushed the AP_ExternalAHRS_AdvancedNavigation branch from d28306b to 720f8a4 Compare August 15, 2024 04:43
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tridge commented Aug 15, 2024

@AN-DanielCook I've rebased this PR and fixed the conflict

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ldData commented Nov 26, 2024

Hi @AN-DanielCook & @tridge , I hope you’re doing well! I was wondering if there are any plans to merge this pull request, and if so, whether there’s an estimated timeline for it? We currently have an Advanced Navigation IMU and would love to integrate it directly with ArduPilot.

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@AN-DanielCook @tridge @ldData @peterbarker