Add component/filter ID to AHRS messages #1441
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To be able to distinguish from which implementation/component the messages was set (needed if running multiple AHRS) see paparazzi#1145 Still need possibility to register a message multiple times (from different modules).
float cmpl and mlkf also register AHRS_EULER and AHRS_GYRO_BIAS_INT
when multiple AHRS are running, the body attitude in state interface doesn't have to be the one from the current AHRS
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I guess this one is okay now |
gautierhattenberger
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Nov 25, 2015
Add component/filter ID to AHRS messages
This was referenced Nov 25, 2015
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When running multiple AHRS algos in parallel, each filters can send the same message but with a different ID to distinguish the source.
See also #1145
This adds a
comp_idfield to the following messages:Also register some more message in some of the filters and don't use the value from the state interface to send the attitude in body frame but rather compute it from the actual ahrs output (imu frame).
So it will still be correct if muliple AHRS are running and another one is enabled (sets the attitude in the state interface).