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AP_ExternalAHRS: VectorNav: Add support for sensors outside VN-100 and VN-300

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Includes naming changes to match new broadened usage
This commit is contained in:
BLash
2024-07-05 21:41:22 +10:00
committed by Peter Barker
parent 1916490ae6
commit 271f08fc03
2 changed files with 86 additions and 76 deletions
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libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+77 -69
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libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
+9 -7
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@@ -61,26 +61,28 @@ private:
void update_thread();
bool check_uart();
void process_packet1(const uint8_t *b);
void process_packet2(const uint8_t *b);
void process_packet_VN_100(const uint8_t *b);
void process_ins_packet1(const uint8_t *b);
void process_ins_packet2(const uint8_t *b);
void process_ahrs_packet(const uint8_t *b);
void wait_register_responce(const uint8_t register_num);
uint8_t *pktbuf;
uint16_t pktoffset;
uint16_t bufsize;
struct VN_packet1 *last_pkt1;
struct VN_packet2 *last_pkt2;
struct VN_INS_packet1 *last_ins_pkt1;
struct VN_INS_packet2 *last_ins_pkt2;
uint32_t last_pkt1_ms;
uint32_t last_pkt2_ms;
enum class TYPE {
VN_300,
VN_100,
VN_INS, // Full INS mode, requiring GNSS. Used by VN-2X0 and VN-3X0
VN_AHRS, // IMU-only mode, used by VN-1X0
} type;
bool has_dual_gnss = false;
char model_name[25];
// NMEA parsing for setup