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70 lines
1.9 KiB
70 lines
1.9 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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suppport for serial connected AHRS systems |
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*/ |
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#pragma once |
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#include "AP_ExternalAHRS_backend.h" |
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#if HAL_EXTERNAL_AHRS_ENABLED |
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class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend { |
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public: |
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AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state); |
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// get serial port number, -1 for not enabled |
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int8_t get_port(void) const override; |
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// accessors for AP_AHRS |
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bool healthy(void) const override; |
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bool initialised(void) const override; |
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bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override; |
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void get_filter_status(nav_filter_status &status) const override; |
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void send_status_report(class GCS_MAVLINK &link) const override; |
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// check for new data |
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void update() override { |
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check_uart(); |
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} |
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private: |
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AP_HAL::UARTDriver *uart; |
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int8_t port_num; |
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bool port_opened; |
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uint32_t baudrate; |
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void update_thread(); |
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bool check_uart(); |
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void process_packet1(const uint8_t *b); |
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void process_packet2(const uint8_t *b); |
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void send_config(void) const; |
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uint8_t *pktbuf; |
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uint16_t pktoffset; |
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uint16_t bufsize; |
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struct VN_packet1 *last_pkt1; |
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struct VN_packet2 *last_pkt2; |
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uint32_t last_pkt1_ms; |
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uint32_t last_pkt2_ms; |
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}; |
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#endif // HAL_EXTERNAL_AHRS_ENABLED |
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