Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Refactor microstrain to common library #24723

Merged
merged 5 commits into from
Aug 29, 2023
Merged

Refactor microstrain to common library #24723

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
313e58a
AP_ExternalAHRS: Create common lib for MicroStrain
Ryanf55 Aug 18, 2023
5b854fd
Tools: Rename MicroStrain to MicroStrain5
Ryanf55 Aug 27, 2023
44c30ea
AP_HAL: split to MicroStrain5
Ryanf55 Aug 28, 2023
f95d223
AP_HAL_SITL: split to MicroStrain5
Ryanf55 Aug 28, 2023
cd79ed2
SITL: split to MicroStrain5
Ryanf55 Aug 28, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
0 .../ArduPlane_Tests/MicroStrainEAHRS/ap1.txt → ...ArduPlane_Tests/MicroStrainEAHRS5/ap1.txt
View file
Open in desktop
File renamed without changes.
8 changes: 4 additions & 4 deletions Tools/autotest/arduplane.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3082,9 +3082,9 @@ def VectorNavEAHRS(self):
'''Test VectorNav EAHRS support'''
self.fly_external_AHRS("VectorNav", 1, "ap1.txt")

def MicroStrainEAHRS(self):
'''Test MicroStrain EAHRS support'''
self.fly_external_AHRS("MicroStrain", 2, "ap1.txt")
def MicroStrainEAHRS5(self):
'''Test MicroStrain EAHRS series 5 support'''
self.fly_external_AHRS("MicroStrain5", 2, "ap1.txt")

def get_accelvec(self, m):
return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81
Expand Down Expand Up @@ -4725,7 +4725,7 @@ def tests(self):
self.TerrainMission,
self.TerrainLoiter,
self.VectorNavEAHRS,
self.MicroStrainEAHRS,
self.MicroStrainEAHRS5,
self.Deadreckoning,
self.DeadreckoningNoAirSpeed,
self.EKFlaneswitch,
Expand Down
2 changes: 1 addition & 1 deletion Tools/scripts/build_options.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ def __init__(self,
Feature('AHRS', 'EKF3', 'HAL_NAVEKF3_AVAILABLE', 'Enable EKF3', 1, None),
Feature('AHRS', 'EKF2', 'HAL_NAVEKF2_AVAILABLE', 'Enable EKF2', 0, None),
Feature('AHRS', 'AHRS_EXT', 'HAL_EXTERNAL_AHRS_ENABLED', 'Enable External AHRS', 0, None),
Feature('AHRS', 'AHRS_EXT_MICROSTRAIN', 'AP_EXTERNAL_AHRS_MICROSTRAIN_ENABLED', 'Enable MICROSTRAIN External AHRS', 0, "AHRS_EXT"), # noqa: E501
Feature('AHRS', 'AHRS_EXT_MICROSTRAIN5', 'AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED', 'Enable MICROSTRAIN 5-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', 'TEMPCAL', 'HAL_INS_TEMPERATURE_CAL_ENABLE', 'Enable IMU Temperature Calibration', 0, None),
Feature('AHRS', 'VISUALODOM', 'HAL_VISUALODOM_ENABLED', 'Enable Visual Odometry', 0, 'EKF3_EXTNAV'),
Expand Down
8 changes: 4 additions & 4 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
#include "AP_ExternalAHRS.h"
#include "AP_ExternalAHRS_backend.h"
#include "AP_ExternalAHRS_VectorNav.h"
#include "AP_ExternalAHRS_MicroStrain.h"
#include "AP_ExternalAHRS_MicroStrain5.h"

#include <GCS_MAVLink/GCS.h>

Expand Down Expand Up @@ -98,9 +98,9 @@ void AP_ExternalAHRS::init(void)
backend = new AP_ExternalAHRS_VectorNav(this, state);
break;
#endif
#if AP_EXTERNAL_AHRS_MICROSTRAIN_ENABLED
case DevType::MicroStrain:
backend = new AP_ExternalAHRS_MicroStrain(this, state);
#if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
case DevType::MicroStrain5:
backend = new AP_ExternalAHRS_MicroStrain5(this, state);
break;
default:
#endif
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,8 @@ class AP_ExternalAHRS {
#if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
VecNav = 1,
#endif
#if AP_EXTERNAL_AHRS_MICROSTRAIN_ENABLED
MicroStrain = 2,
#if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
MicroStrain5 = 2,
#endif
};

Expand Down
Loading
Loading