From ec1814da34280c6957cd028748e52abe55dd67bb Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 21 Dec 2022 15:51:42 +0000
Subject: [PATCH] AP_ExternalAHRS: add get_name function for reporting

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp       | 9 +++++++++
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h         | 3 +++
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp  | 6 ++++++
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h    | 3 +++
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h | 3 +++
 5 files changed, 24 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index 44edc6505db..32eee83b6c9 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -213,6 +213,15 @@ void AP_ExternalAHRS::update(void)
     }
 }
 
+// Get model/type name
+const char* AP_ExternalAHRS::get_name() const
+{
+    if (backend) {
+        return backend->get_name();
+    }
+    return nullptr;
+}
+
 namespace AP {
 
 AP_ExternalAHRS &externalAHRS()
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index 41664c37c21..037b5200818 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -55,6 +55,9 @@ public:
         return rate.get();
     }
 
+    // Get model/type name
+    const char* get_name() const;
+
     // get serial port number, -1 for not enabled
     int8_t get_port(void) const;
 
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
index f7512608a97..7ccdce7db54 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
@@ -440,6 +440,12 @@ int8_t AP_ExternalAHRS_LORD::get_port(void) const
     return port_num;
 };
 
+// Get model/type name
+const char* AP_ExternalAHRS_LORD::get_name() const
+{
+    return "LORD";
+}
+
 bool AP_ExternalAHRS_LORD::healthy(void) const
 {
     uint32_t now = AP_HAL::millis();
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h
index 6695437d492..846a15fd1c7 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h
@@ -35,6 +35,9 @@ public:
     // get serial port number, -1 for not enabled
     int8_t get_port(void) const override;
 
+    // Get model/type name
+    const char* get_name() const override;
+
     // accessors for AP_AHRS
     bool healthy(void) const override;
     bool initialised(void) const override;
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
index 1d0204e0d1b..15a8f353bd4 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
@@ -29,6 +29,9 @@ public:
     // get serial port number, -1 for not enabled
     virtual int8_t get_port(void) const { return -1; }
 
+    // Get model/type name
+    virtual const char* get_name() const = 0;
+
     // accessors for AP_AHRS
     virtual bool healthy(void) const = 0;
     virtual bool initialised(void) const = 0;