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AP_ExternalAHRS: Fixed InertialLabs External AHRS driver #26153

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AP_ExternalAHRS: Fixed InertialLabs External AHRS driver #26153

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bbbb0db
ExternalAHRS: fix InertialLabs External AHRS driver
VladSheleverGyrotech Feb 6, 2024
a209c50
ExternalAHRS: EKF_FailSafe trigger "fixed"
VSheleverIL Feb 26, 2024
b73ab69
ExternalAHRS: New GNSS data for ArduPilot
VSheleverIL Feb 29, 2024
8c44974
BoardConfig: new value for BRD_BOOT_DELAY parameter
VSheleverIL Mar 4, 2024
7ee39af
GCSMavlink: Cosmetic changes
Feb 28, 2024
7aee05f
ExternalAHRS: Cosmetic changes
Feb 28, 2024
d44b6b7
Mavlink: Add inertialLabs commands to mavlink
Feb 28, 2024
9c7139a
ExternalAHRS: Add command sending to AHRS
Mar 20, 2024
2ef0119
Mavlink: Add command sending to External AHRS
Mar 20, 2024
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2 changes: 1 addition & 1 deletion libraries/AP_BoardConfig/AP_BoardConfig.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -385,7 +385,7 @@ void AP_BoardConfig::init()
#endif

if (_boot_delay_ms > 0) {
uint16_t delay_ms = uint16_t(_boot_delay_ms.get());
uint32_t delay_ms = uint32_t(_boot_delay_ms.get());
if (hal.util->was_watchdog_armed() && delay_ms > 200) {
// don't delay a long time on watchdog reset, the pilot
// may be able to save the vehicle
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2 changes: 1 addition & 1 deletion libraries/AP_BoardConfig/AP_BoardConfig.h
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Expand Up @@ -310,7 +310,7 @@ class AP_BoardConfig {
AP_Int8 _sdcard_slowdown;
#endif

AP_Int16 _boot_delay_ms;
AP_Int32 _boot_delay_ms;

AP_Int32 _options;

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10 changes: 8 additions & 2 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
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Expand Up @@ -80,7 +80,7 @@ const AP_Param::GroupInfo AP_ExternalAHRS::var_info[] = {
// @Bitmask: 0:GPS,1:IMU,2:Baro,3:Compass
// @User: Advanced
AP_GROUPINFO("_SENSORS", 4, AP_ExternalAHRS, sensors, 0xF),

AP_GROUPEND
};

Expand Down Expand Up @@ -262,6 +262,13 @@ void AP_ExternalAHRS::send_status_report(GCS_MAVLINK &link) const
}
}

void AP_ExternalAHRS::write_bytes(const char *bytes, uint8_t len)
{
if (backend) {
backend->write_bytes(bytes, len);
}
}

void AP_ExternalAHRS::update(void)
{
if (backend) {
Expand Down Expand Up @@ -302,4 +309,3 @@ AP_ExternalAHRS &externalAHRS()
};

#endif // HAL_EXTERNAL_AHRS_ENABLED

4 changes: 2 additions & 2 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
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Expand Up @@ -118,6 +118,7 @@ class AP_ExternalAHRS {
Vector3f get_gyro(void);
Vector3f get_accel(void);
void send_status_report(class GCS_MAVLINK &link) const;
void write_bytes(const char *bytes, uint8_t len);

// update backend
void update();
Expand Down Expand Up @@ -163,7 +164,7 @@ class AP_ExternalAHRS {
float differential_pressure; // Pa
float temperature; // degC
} airspeed_data_message_t;

protected:

enum class OPTIONS {
Expand Down Expand Up @@ -197,4 +198,3 @@ namespace AP {
};

#endif // HAL_EXTERNAL_AHRS_ENABLED

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