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AP_ExternalAHRS: Fix Build Option for InertialLabs #27819

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merged 2 commits into from
Aug 13, 2024
Merged

AP_ExternalAHRS: Fix Build Option for InertialLabs #27819

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6c2f658
AP_ExternalAHRS: Allow InertialLabs to be used as build option properly
joshanne Aug 12, 2024
abe68d6
scripts: Enable InertialLabs as a build option
joshanne Aug 12, 2024
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2 changes: 1 addition & 1 deletion Tools/scripts/build_options.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ def __init__(self,
Feature('AHRS', 'MicroStrain5', 'AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED', 'Enable MICROSTRAIN 5-series External AHRS', 0, "AHRS_EXT"), # noqa: E501
Feature('AHRS', 'MicroStrain7', 'AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED', 'Enable MICROSTRAIN 7-series External AHRS', 0, "AHRS_EXT"), # noqa: E501
Feature('AHRS', 'AHRS_EXT_VECTORNAV', 'AP_EXTERNAL_AHRS_VECTORNAV_ENABLED', 'Enable VectorNav External AHRS', 0, "AHRS_EXT"), # noqa
# Feature('AHRS', 'InertialLabs', 'AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED', 'Enable InertialLabs External AHRS', 0, "AHRS_EXT"), # noqa disabled because INERTIAL_LABS is the enable flag
Feature('AHRS', 'InertialLabs', 'AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED', 'Enable InertialLabs External AHRS', 0, "AHRS_EXT"), # noqa
Feature('AHRS', 'TEMPCAL', 'HAL_INS_TEMPERATURE_CAL_ENABLE', 'Enable IMU Temperature Calibration', 0, None),
Feature('AHRS', 'VISUALODOM', 'HAL_VISUALODOM_ENABLED', 'Enable Visual Odometry', 0, 'EKF3_EXTNAV'),
Feature('AHRS', 'EKF3_EXTNAV', 'EK3_FEATURE_EXTERNAL_NAV', 'Enable External Navigation for EKF3', 0, 'EKF3'),
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2 changes: 1 addition & 1 deletion libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
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Expand Up @@ -124,7 +124,7 @@ void AP_ExternalAHRS::init(void)
return;
#endif

#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
case DevType::InertialLabs:
backend = NEW_NOTHROW AP_ExternalAHRS_InertialLabs(this, state);
return;
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2 changes: 1 addition & 1 deletion libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ class AP_ExternalAHRS {
#if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
MicroStrain5 = 2,
#endif
#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
InertialLabs = 5,
#endif
// 3 reserved for AdNav
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4 changes: 2 additions & 2 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
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Expand Up @@ -18,7 +18,7 @@

#include "AP_ExternalAHRS_config.h"

#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED

#include "AP_ExternalAHRS_InertialLabs.h"
#include <AP_Math/AP_Math.h>
Expand Down Expand Up @@ -692,5 +692,5 @@ void AP_ExternalAHRS_InertialLabs::send_status_report(GCS_MAVLINK &link) const
mag_var, 0, 0);
}

#endif // AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
#endif // AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED

4 changes: 2 additions & 2 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@

#include "AP_ExternalAHRS_config.h"

#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED

#include "AP_ExternalAHRS_backend.h"

Expand Down Expand Up @@ -228,5 +228,5 @@ class AP_ExternalAHRS_InertialLabs : public AP_ExternalAHRS_backend {
uint32_t last_gps_ms;
};

#endif // AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
#endif // AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED

4 changes: 2 additions & 2 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
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Expand Up @@ -26,6 +26,6 @@
#define AP_EXTERNAL_AHRS_VECTORNAV_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
#endif

#ifndef AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
#define AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
#ifndef AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
#define AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
#endif
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