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AP_Compass: added ExternalAHRS driver

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Andrew Tridgell authored and Peter Barker committed 2021-01-05 21:13:12 +11:00
1 parent 75c789fc57
commit a068e95a48
5 files changed
+98 -2
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libraries/AP_Compass/AP_Compass.cpp
+23 -2
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@@ -6,6 +6,7 @@
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include "AP_Compass_SITL.h"
#include "AP_Compass_AK8963.h"
@@ -29,6 +30,9 @@
#if HAL_MSP_COMPASS_ENABLED
#include "AP_Compass_MSP.h"
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
#include "AP_Compass_ExternalAHRS.h"
#endif
#include "AP_Compass.h"
#include "Compass_learn.h"
#include <stdio.h>
@@ -488,7 +492,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Param: TYPEMASK
// @DisplayName: Compass disable driver type mask
// @Description: This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
// @Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP
// @Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS
// @User: Advanced
AP_GROUPINFO("TYPEMASK", 33, Compass, _driver_type_mask, 0),
@@ -1185,6 +1189,12 @@ void Compass::_detect_backends(void)
}
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
if (int8_t serial_port = AP::externalAHRS().get_port() >= 0) {
ADD_BACKEND(DRIVER_SERIAL, new AP_Compass_ExternalAHRS(serial_port));
}
#endif
#if AP_FEATURE_BOARD_DETECT
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
// default to disabling LIS3MDL on pixhawk2 due to hardware issue
@@ -1194,7 +1204,6 @@ void Compass::_detect_backends(void)
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL());
return;
#endif
#ifdef HAL_PROBE_EXTERNAL_I2C_COMPASSES
@@ -1998,6 +2007,18 @@ void Compass::handle_msp(const MSP::msp_compass_data_message_t &pkt)
}
#endif // HAL_MSP_COMPASS_ENABLED
#if HAL_EXTERNAL_AHRS_ENABLED
void Compass::handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt)
{
if (!_driver_enabled(DRIVER_SERIAL)) {
return;
}
for (uint8_t i=0; i<_backend_count; i++) {
_backends[i]->handle_external(pkt);
}
}
#endif // HAL_EXTERNAL_AHRS_ENABLED
// singleton instance
Compass *Compass::_singleton;