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AP_ExternalAHRS: Allow using a MTI-630 external AHRS with PSONCMS NME…
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@Williangalvani
Williangalvani committed Dec 4, 2023
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124 changes: 124 additions & 0 deletions Tools/external_ahrs_replay/mti630replay.py
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import socket
import time


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$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1768,-8.1674,-5.3821,0.0062,0.0025,0.0015,-0.3637,0.2450,0.6294,37.8*5B
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1814,-8.1502,-5.3819,-0.0065,0.0006,0.0023,-0.3628,0.2450,0.6308,37.8*72
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1668,-8.1629,-5.3906,0.0036,-0.0021,-0.0013,-0.3618,0.2451,0.6279,37.8*5A
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1802,-8.1868,-5.4032,0.0042,-0.0028,0.0012,-0.3651,0.2436,0.6289,37.8*7F
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1859,-8.1766,-5.3948,0.0067,0.0015,0.0015,-0.3619,0.2465,0.6303,37.8*59
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1758,-8.1677,-5.4068,-0.0033,-0.0051,0.0016,-0.3632,0.2445,0.6294,37.8...
"""

s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

s.connect(("127.0.0.1", 5763))
while True:
for line in data.split("\n"):
s.send(f"{line}\n".encode())
time.sleep(1/50)
8 changes: 6 additions & 2 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
#include "AP_ExternalAHRS_backend.h"
#include "AP_ExternalAHRS_VectorNav.h"
#include "AP_ExternalAHRS_MicroStrain5.h"
#include "AP_ExternalAHRS_MTI630.h"

#include <GCS_MAVLink/GCS.h>

Expand Down Expand Up @@ -100,11 +101,14 @@ void AP_ExternalAHRS::init(void)
#endif
#if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
case DevType::MicroStrain5:
backend = new AP_ExternalAHRS_MicroStrain5(this, state);
return;
#endif
#if AP_EXTERNAL_AHRS_MTI630_ENABLED
case DevType::MTI630:
backend = new AP_ExternalAHRS_MTI630(this, state);
break;
#endif
}

GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unsupported ExternalAHRS type %u", unsigned(devtype));
}

Expand Down
3 changes: 3 additions & 0 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,9 @@ class AP_ExternalAHRS {
// 7 reserved for MicroStrain7
// 8 reserved for SBG
// 9 reserved for EulerNav
#if AP_EXTERNAL_AHRS_MTI630_ENABLED
MTI630 = 10,
#endif
};

static AP_ExternalAHRS *get_singleton(void) {
Expand Down
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