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150 lines
3.7 KiB
150 lines
3.7 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_HAL/AP_HAL.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Common/Location.h> |
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#include <AP_NavEKF/AP_Nav_Common.h> |
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#ifndef HAL_EXTERNAL_AHRS_ENABLED |
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#define HAL_EXTERNAL_AHRS_ENABLED !HAL_MINIMIZE_FEATURES && !defined(HAL_BUILD_AP_PERIPH) && BOARD_FLASH_SIZE > 1024 |
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#endif |
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#if HAL_EXTERNAL_AHRS_ENABLED |
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#include <GCS_MAVLink/GCS_MAVLink.h> |
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class AP_ExternalAHRS_backend; |
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class AP_ExternalAHRS { |
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public: |
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friend class AP_ExternalAHRS_backend; |
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AP_ExternalAHRS(); |
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void init(void); |
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static const struct AP_Param::GroupInfo var_info[]; |
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enum class DevType : uint8_t { |
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None = 0, |
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VecNav = 1, |
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LORD = 2, |
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}; |
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static AP_ExternalAHRS *get_singleton(void) { |
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return _singleton; |
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} |
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// expected IMU rate in Hz |
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float get_IMU_rate(void) const { |
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return rate.get(); |
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} |
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// get serial port number, -1 for not enabled |
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int8_t get_port(void) const; |
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struct state_t { |
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HAL_Semaphore sem; |
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Vector3f accel; |
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Vector3f gyro; |
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Quaternion quat; |
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Location location; |
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Vector3f velocity; |
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Location origin; |
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bool have_quaternion; |
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bool have_origin; |
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bool have_location; |
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bool have_velocity; |
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} state; |
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// accessors for AP_AHRS |
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bool healthy(void) const; |
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bool initialised(void) const; |
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bool get_quaternion(Quaternion &quat); |
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bool get_origin(Location &loc); |
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bool get_location(Location &loc); |
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Vector2f get_groundspeed_vector(); |
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bool get_velocity_NED(Vector3f &vel); |
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bool get_speed_down(float &speedD); |
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bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const; |
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void get_filter_status(nav_filter_status &status) const; |
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Vector3f get_gyro(void); |
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Vector3f get_accel(void); |
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void send_status_report(mavlink_channel_t chan) const; |
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// update backend |
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void update(); |
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/* |
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structures passed to other subsystems |
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*/ |
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typedef struct { |
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uint8_t instance; |
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float pressure_pa; |
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float temperature; |
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} baro_data_message_t; |
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typedef struct { |
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Vector3f field; |
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} mag_data_message_t; |
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typedef struct { |
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uint16_t gps_week; // GPS week, 0xFFFF if not available |
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uint32_t ms_tow; |
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uint8_t fix_type; |
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uint8_t satellites_in_view; |
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float horizontal_pos_accuracy; |
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float vertical_pos_accuracy; |
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float horizontal_vel_accuracy; |
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float hdop; |
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float vdop; |
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int32_t longitude; |
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int32_t latitude; |
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int32_t msl_altitude; // cm |
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float ned_vel_north; |
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float ned_vel_east; |
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float ned_vel_down; |
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} gps_data_message_t; |
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typedef struct { |
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Vector3f accel; |
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Vector3f gyro; |
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float temperature; |
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} ins_data_message_t; |
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private: |
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AP_ExternalAHRS_backend *backend; |
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AP_Enum<DevType> devtype; |
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AP_Int16 rate; |
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static AP_ExternalAHRS *_singleton; |
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}; |
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namespace AP { |
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AP_ExternalAHRS &externalAHRS(); |
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}; |
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#endif // HAL_EXTERNAL_AHRS_ENABLED |
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