Refactor microstrain to common library

[Ryanf55]

This refactors out out the common shared logic from microstrain series 5 and 7 (mainly, the parsing). This will allow creating the 7-series driver with far less code duplication. Logic was not impacted. On SITL, I just renamed the class to make it clear it's a simulator for the 5-series. The 7-series uses some different packets, and also has two GPS instances.

https://ardupilot.org/copter/docs/parameters.html#gps-type

https://ardupilot.org/copter/docs/common-external-ahrs.html

param set GPS_TYPE 21
param set AHRS_EKF_TYPE 11
param set EAHRS_TYPE 2
param set SERIAL4_PROTOCOL 36
param set SERIAL4_PROTOCOL 115

https://github.com/ardupilot/ardupilot/blob/master/libraries/SITL/SIM_MicroStrain.h#L3

Test:

• autotest.py build.Plane test.Plane.MicroStrainEAHRS --debug
• sim_vehicle.py -v Plane -DG --console --map -A --uartE=sim:MicroStrain
  • With GDB breakpoint: sim_vehicle.py -v Plane -DG --console -A --uartE=sim:MicroStrain -B AP_ExternalAHRS_MicroStrain5.cpp:98

[tridge]

I'd prefer libraries/AP_ExternalAHRS/MicroStrain_common.{cpp,h}

[Ryanf55]

I'd prefer libraries/AP_ExternalAHRS/MicroStrain_common.{cpp,h}

Done!

[Ryanf55]

I saw that SITL tests failed. After fixing my local dev environment, I was able to reproduce this failure locally and will be working on it. It's likely caused by the serial port not being set up.

[Ryanf55]

test.Rover.Rally has failed 3x in a row in CI and is blocking merge.