AP_ExternalAHRS: Add pre-arm for misconfigured EAHRS_SENSORS and GPS_TYPE #26611
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peterbarker
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Mar 25, 2024
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Ryanf55
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tridge
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Mar 26, 2024
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…TYPE * This catches when there's a mismatch of GPSx_TYPE and EAHRS_SENSORS when GPS is enabled * Before this pre-arm, failure to set GPS_TYPE2 to 21 (ExternalAHRS) resulted in silent rejection of the data in AP_GPS because the default is off * And fix a little logging bug Signed-off-by: Ryan Friedman <[email protected]>
* And test for single GPS reporting on Microstrain7 Signed-off-by: Ryan Friedman <[email protected]>
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rmackay9
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| @@ -50,6 +50,13 @@ class AP_ExternalAHRS_MicroStrain7: public AP_ExternalAHRS_backend, public AP_Mi | |||
| build_packet(); | |||
| }; | |||
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| protected: | |||
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| uint8_t num_gps_sensors(void) const override | |||
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nitpick; normally the curly bracket is on the same line as the definition in .h files. Not a blocker of course. Personally I'd put this all on one line.
tridge
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Apr 29, 2024
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We should update this wiki page with the new error https://ardupilot.org/copter/docs/common-prearm-safety-checks.html |
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Purpose
Drive by fix - logging problem in Microstrain7 with format strings.
Tests
Tested in SITL with MicroStrain7 hardware. And, a new CI test:
Why?
The default behavior is to disable the 2nd GPS, so MicroStrain7 was dropping the data on the floor in the call to
AP::gps().handle_external(gps, instance);Futher improvements
The same behavior is possible with other external sensors?