Skip to content

Commit

Permalink
AP_ExternalAHRS: Allow using a MTI-630 external AHRS with PSONCMS NME…
Browse files Browse the repository at this point in the history 
…A messages
  • Loading branch information
@Williangalvani
Williangalvani committed Dec 4, 2023
1 parent 60ceaec commit e0ddcde
Show file tree
Hide file tree
Showing 6 changed files with 548 additions and 3 deletions.
124 changes: 124 additions & 0 deletions Tools/external_ahrs_replay/mti630replay.py
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,124 @@
import socket
import time


data = """$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1815,-8.1547,-5.4087,0.0017,-0.0010,-0.0007,-0.3618,0.2455,0.6284,37.8*56
$PSONCMS,0.1455,-0.2518,0.8442,-0.4504,-0.1781,-8.1710,-5.4000,0.0072,0.0044,0.0018,-0.3618,0.2431,0.6308,37.8*5F
$PSONCMS,0.1455,-0.2518,0.8442,-0.4503,-0.1750,-8.1789,-5.3795,-0.0060,-0.0020,-0.0004,-0.3618,0.2455,0.6289,37.8*73
$PSONCMS,0.1455,-0.2518,0.8442,-0.4503,-0.1844,-8.1654,-5.3809,-0.0038,-0.0022,-0.0001,-0.3642,0.2460,0.6284,37.8*7C
$PSONCMS,0.1455,-0.2518,0.8442,-0.4503,-0.1666,-8.1526,-5.3946,-0.0021,-0.0007,0.0009,-0.3628,0.2465,0.6284,37.8*5D
$PSONCMS,0.1455,-0.2518,0.8442,-0.4504,-0.1844,-8.1754,-5.3952,0.0059,-0.0023,0.0033,-0.3652,0.2470,0.6289,37.8*7F
$PSONCMS,0.1455,-0.2518,0.8442,-0.4503,-0.1819,-8.1798,-5.3954,0.0009,0.0018,-0.0005,-0.3623,0.2460,0.6265,37.8*7B
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1736,-8.1591,-5.3701,0.0032,0.0047,0.0035,-0.3651,0.2436,0.6289,37.8*5C
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.2062,-8.1642,-5.3936,0.0033,-0.0015,0.0004,-0.3614,0.2480,0.6289,37.8*7B
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1954,-8.1581,-5.3798,-0.0001,0.0002,-0.0008,-0.3628,0.2460,0.6274,37.8*57
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1693,-8.1646,-5.3975,0.0059,0.0005,0.0021,-0.3628,0.2470,0.6279,37.8*5B
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1828,-8.1714,-5.3953,-0.0024,-0.0043,0.0010,-0.3628,0.2479,0.6298,37.8*5B
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.2037,-8.1554,-5.3832,-0.0021,0.0005,0.0014,-0.3609,0.2446,0.6289,37.8*7F
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1864,-8.1662,-5.3838,0.0019,-0.0007,0.0031,-0.3642,0.2431,0.6293,37.8*74
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1776,-8.1626,-5.3696,0.0076,-0.0013,0.0038,-0.3648,0.2489,0.6308,37.8*7D
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1751,-8.1697,-5.3969,0.0055,-0.0000,-0.0025,-0.3638,0.2460,0.6298,37.8*57
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1876,-8.1581,-5.3889,-0.0045,-0.0003,0.0004,-0.3628,0.2450,0.6284,37.8*5F
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1778,-8.1592,-5.3833,0.0019,-0.0018,0.0006,-0.3623,0.2445,0.6308,37.8*7B
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.2058,-8.1588,-5.3877,0.0018,-0.0004,0.0012,-0.3633,0.2465,0.6279,37.8*7B
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1903,-8.1609,-5.3868,0.0026,0.0012,0.0003,-0.3623,0.2445,0.6298,37.8*50
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1691,-8.1659,-5.3743,0.0059,0.0025,-0.0001,-0.3614,0.2484,0.6303,37.8*7F
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1855,-8.1556,-5.3703,0.0009,0.0035,0.0024,-0.3633,0.2450,0.6303,37.8*52
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1796,-8.1488,-5.4029,0.0043,-0.0029,-0.0014,-0.3637,0.2450,0.6284,37.8*53
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1781,-8.1488,-5.3861,0.0062,-0.0006,0.0017,-0.3637,0.2450,0.6303,37.8*79
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1750,-8.1599,-5.3893,0.0027,0.0025,0.0013,-0.3638,0.2460,0.6298,37.8*5E
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1854,-8.1419,-5.3883,-0.0019,-0.0004,-0.0018,-0.3627,0.2436,0.6279,37.8*76
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1760,-8.1517,-5.3775,0.0007,0.0001,-0.0010,-0.3619,0.2465,0.6274,37.8*73
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1799,-8.1891,-5.3982,0.0017,-0.0008,0.0005,-0.3633,0.2460,0.6284,37.8*7E
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1559,-8.1560,-5.3923,0.0053,-0.0002,-0.0026,-0.3637,0.2445,0.6294,37.8*5D
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1742,-8.1690,-5.4034,0.0057,-0.0007,0.0016,-0.3637,0.2450,0.6284,37.8*7A
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1896,-8.1717,-5.3794,0.0016,-0.0026,0.0040,-0.3633,0.2455,0.6274,37.8*73
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1766,-8.1727,-5.3865,-0.0032,-0.0050,-0.0003,-0.3637,0.2441,0.6289,37.8*73
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1795,-8.1653,-5.3861,0.0053,0.0011,-0.0010,-0.3628,0.2450,0.6294,37.8*7A
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1880,-8.1510,-5.3888,0.0092,-0.0016,0.0032,-0.3633,0.2465,0.6298,37.8*78
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1805,-8.1635,-5.4000,0.0010,-0.0009,0.0029,-0.3633,0.2484,0.6298,37.8*7F
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1741,-8.1584,-5.3974,-0.0088,-0.0012,0.0034,-0.3637,0.2455,0.6289,37.8*56
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1939,-8.1668,-5.3930,-0.0062,-0.0008,0.0012,-0.3628,0.2455,0.6294,37.8*5F
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1751,-8.1678,-5.3978,0.0013,-0.0023,0.0027,-0.3623,0.2465,0.6294,37.8*7E
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1972,-8.1519,-5.3828,0.0068,0.0047,0.0008,-0.3609,0.2456,0.6284,37.8*56
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1897,-8.1751,-5.3784,0.0033,0.0019,-0.0005,-0.3637,0.2450,0.6303,37.8*7B
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1724,-8.1702,-5.4015,0.0030,0.0007,-0.0019,-0.3619,0.2470,0.6289,37.8*7E
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1901,-8.1630,-5.3765,0.0025,-0.0011,0.0001,-0.3637,0.2445,0.6284,37.8*7D
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1810,-8.1640,-5.3950,0.0028,-0.0011,-0.0007,-0.3618,0.2455,0.6294,37.8*58
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1741,-8.1742,-5.3832,0.0064,0.0008,0.0020,-0.3637,0.2450,0.6289,37.8*54
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1828,-8.1861,-5.3816,0.0000,-0.0026,0.0022,-0.3624,0.2475,0.6279,37.8*77
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1806,-8.1729,-5.3859,-0.0010,-0.0007,0.0007,-0.3628,0.2470,0.6284,37.8*50
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1897,-8.1545,-5.3836,-0.0033,-0.0010,-0.0005,-0.3637,0.2445,0.6289,37.8*74
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1810,-8.1696,-5.3896,0.0055,0.0003,0.0013,-0.3642,0.2455,0.6274,37.8*55
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1826,-8.1540,-5.3960,0.0042,-0.0012,0.0022,-0.3647,0.2440,0.6313,37.8*78
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1731,-8.1666,-5.3900,0.0011,0.0002,-0.0029,-0.3642,0.2460,0.6293,37.8*72
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1894,-8.1615,-5.3964,-0.0064,-0.0008,0.0029,-0.3633,0.2455,0.6294,37.8*56
$PSONCMS,0.1455,-0.2517,0.8443,-0.4502,-0.1814,-8.1451,-5.3903,0.0002,-0.0022,-0.0016,-0.3652,0.2450,0.6279,37.8*58
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1880,-8.1636,-5.3783,0.0045,-0.0005,0.0017,-0.3633,0.2460,0.6269,37.8*7F
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1913,-8.1555,-5.3844,-0.0018,-0.0006,0.0003,-0.3647,0.2445,0.6284,37.8*52
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1693,-8.1574,-5.3845,-0.0049,-0.0012,0.0019,-0.3657,0.2460,0.6284,37.8*5B
$PSONCMS,0.1455,-0.2517,0.8443,-0.4503,-0.1738,-8.1663,-5.3986,0.0032,0.0026,0.0025,-0.3643,0.2475,0.6279,37.8*56
$PSONCMS,0.1455,-0.2517,0.8443,-0.4502,-0.1796,-8.1435,-5.3823,0.0036,0.0015,0.0009,-0.3623,0.2446,0.6289,37.8*5F
$PSONCMS,0.1455,-0.2517,0.8443,-0.4503,-0.1855,-8.1621,-5.3957,0.0003,-0.0020,-0.0003,-0.3633,0.2455,0.6308,37.8*5A
$PSONCMS,0.1455,-0.2517,0.8443,-0.4503,-0.1732,-8.1478,-5.3852,-0.0034,-0.0006,0.0018,-0.3638,0.2465,0.6284,37.8*59
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1826,-8.1713,-5.3865,0.0124,-0.0026,0.0020,-0.3657,0.2460,0.6279,37.8*72
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1775,-8.1533,-5.4009,0.0057,0.0009,0.0012,-0.3642,0.2450,0.6298,37.8*52
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1703,-8.1476,-5.3871,0.0026,-0.0007,-0.0017,-0.3642,0.2455,0.6318,37.8*52
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1735,-8.1618,-5.3914,-0.0048,-0.0004,0.0046,-0.3642,0.2440,0.6308,37.8*55
$PSONCMS,0.1455,-0.2517,0.8443,-0.4503,-0.1641,-8.1588,-5.3891,-0.0029,-0.0002,0.0017,-0.3628,0.2441,0.6289,37.8*50
$PSONCMS,0.1455,-0.2517,0.8443,-0.4503,-0.1827,-8.1549,-5.3971,0.0025,-0.0016,-0.0002,-0.3638,0.2465,0.6284,37.8*5B
$PSONCMS,0.1454,-0.2517,0.8443,-0.4503,-0.1694,-8.1782,-5.3856,-0.0018,-0.0005,0.0021,-0.3652,0.2445,0.6293,37.8*58
$PSONCMS,0.1455,-0.2517,0.8443,-0.4503,-0.1703,-8.1481,-5.3908,0.0046,0.0023,0.0014,-0.3632,0.2441,0.6289,37.8*5C
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1849,-8.1462,-5.3960,-0.0012,-0.0027,0.0033,-0.3623,0.2455,0.6298,37.8*5A
$PSONCMS,0.1455,-0.2517,0.8442,-0.4503,-0.1650,-8.1611,-5.3966,0.0006,-0.0029,-0.0006,-0.3633,0.2450,0.6289,37.8*55
$PSONCMS,0.1455,-0.2516,0.8442,-0.4503,-0.1689,-8.1671,-5.3997,0.0077,0.0045,-0.0003,-0.3662,0.2469,0.6298,37.8*72
$PSONCMS,0.1455,-0.2516,0.8442,-0.4503,-0.1694,-8.1546,-5.3837,0.0030,-0.0029,-0.0007,-0.3633,0.2465,0.6308,37.8*52
$PSONCMS,0.1455,-0.2516,0.8442,-0.4503,-0.1756,-8.1503,-5.3879,0.0043,0.0005,0.0030,-0.3623,0.2441,0.6279,37.8*58
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1848,-8.1859,-5.3816,-0.0044,-0.0032,0.0031,-0.3628,0.2455,0.6279,37.8*5E
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1904,-8.1618,-5.3891,0.0048,0.0004,0.0030,-0.3628,0.2470,0.6294,37.8*5F
$PSONCMS,0.1455,-0.2516,0.8442,-0.4503,-0.1916,-8.1610,-5.3935,0.0043,0.0020,0.0000,-0.3633,0.2455,0.6289,37.8*55
$PSONCMS,0.1455,-0.2516,0.8442,-0.4503,-0.1972,-8.1764,-5.3868,-0.0041,-0.0047,0.0013,-0.3647,0.2474,0.6289,37.8*5D
$PSONCMS,0.1455,-0.2516,0.8442,-0.4503,-0.1853,-8.1509,-5.3859,-0.0035,-0.0031,0.0017,-0.3638,0.2475,0.6279,37.8*54
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1717,-8.1556,-5.3875,-0.0009,-0.0004,0.0002,-0.3609,0.2450,0.6299,37.8*58
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1742,-8.1607,-5.3875,0.0087,-0.0000,-0.0009,-0.3652,0.2450,0.6318,37.8*50
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1759,-8.1562,-5.3850,-0.0014,-0.0006,-0.0013,-0.3652,0.2465,0.6284,37.8*75
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1736,-8.1549,-5.3855,-0.0038,-0.0017,0.0033,-0.3633,0.2470,0.6284,37.8*52
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1909,-8.1600,-5.4066,0.0055,0.0027,0.0002,-0.3619,0.2465,0.6270,37.8*5C
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1781,-8.1677,-5.3984,0.0027,-0.0001,0.0046,-0.3628,0.2441,0.6279,37.8*71
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1661,-8.1563,-5.3954,0.0051,-0.0004,0.0002,-0.3656,0.2445,0.6284,37.8*7E
$PSONCMS,0.1455,-0.2516,0.8443,-0.4503,-0.1710,-8.1610,-5.3914,-0.0078,-0.0033,0.0017,-0.3657,0.2479,0.6279,37.8*50
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1665,-8.1468,-5.3925,0.0046,0.0006,-0.0005,-0.3642,0.2455,0.6303,37.8*78
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1926,-8.1605,-5.3910,0.0041,-0.0002,0.0002,-0.3633,0.2450,0.6298,37.8*7B
$PSONCMS,0.1454,-0.2517,0.8442,-0.4504,-0.1852,-8.1396,-5.3862,0.0039,0.0013,-0.0001,-0.3627,0.2431,0.6289,37.8*7D
$PSONCMS,0.1454,-0.2517,0.8442,-0.4504,-0.1792,-8.1606,-5.3871,-0.0029,-0.0026,0.0014,-0.3632,0.2436,0.6274,37.8*5F
$PSONCMS,0.1455,-0.2517,0.8442,-0.4504,-0.1676,-8.1639,-5.3809,-0.0039,-0.0019,0.0031,-0.3647,0.2469,0.6322,37.8*56
$PSONCMS,0.1455,-0.2518,0.8442,-0.4504,-0.2048,-8.1666,-5.3771,0.0064,-0.0018,0.0008,-0.3638,0.2470,0.6274,37.8*77
$PSONCMS,0.1454,-0.2517,0.8442,-0.4504,-0.1539,-8.1765,-5.3869,0.0024,-0.0005,0.0005,-0.3623,0.2441,0.6279,37.8*7D
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1723,-8.1539,-5.3881,-0.0015,-0.0028,-0.0022,-0.3637,0.2436,0.6294,37.8*70
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1964,-8.1700,-5.3901,0.0001,0.0005,-0.0012,-0.3633,0.2465,0.6298,37.8*7B
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1763,-8.1479,-5.3799,-0.0051,-0.0011,-0.0006,-0.3638,0.2489,0.6298,37.8*7C
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1796,-8.1737,-5.3772,0.0098,0.0007,-0.0009,-0.3637,0.2450,0.6308,37.8*74
$PSONCMS,0.1454,-0.2517,0.8442,-0.4504,-0.1750,-8.1611,-5.3820,0.0056,0.0012,-0.0012,-0.3618,0.2455,0.6313,37.8*7A
$PSONCMS,0.1454,-0.2517,0.8442,-0.4504,-0.1903,-8.1448,-5.4014,-0.0050,-0.0000,0.0001,-0.3637,0.2445,0.6313,37.8*52
$PSONCMS,0.1454,-0.2517,0.8442,-0.4504,-0.1892,-8.1559,-5.3955,0.0037,-0.0025,-0.0025,-0.3638,0.2469,0.6318,37.8*5B
$PSONCMS,0.1454,-0.2517,0.8442,-0.4504,-0.1875,-8.1577,-5.4036,0.0011,-0.0017,0.0028,-0.3623,0.2446,0.6294,37.8*72
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1673,-8.1671,-5.3986,0.0051,-0.0004,-0.0002,-0.3633,0.2475,0.6274,37.8*51
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1576,-8.1696,-5.3810,0.0006,0.0066,0.0030,-0.3638,0.2465,0.6294,37.8*53
$PSONCMS,0.1454,-0.2518,0.8442,-0.4503,-0.1799,-8.1644,-5.3828,-0.0011,-0.0005,-0.0011,-0.3647,0.2445,0.6289,37.8*70
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1801,-8.1537,-5.3823,0.0022,-0.0000,0.0022,-0.3652,0.2450,0.6308,37.8*70
$PSONCMS,0.1454,-0.2517,0.8442,-0.4503,-0.1767,-8.1572,-5.4011,0.0054,0.0032,0.0000,-0.3657,0.2474,0.6298,37.8*56
$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)
15 changes: 12 additions & 3 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,14 @@

#include "AP_ExternalAHRS_config.h"

#if HAL_EXTERNAL_AHRS_ENABLED
#if AP_EXTERNAL_AHRS_MTI630_ENABLED

#include "AP_ExternalAHRS.h"
#include "AP_ExternalAHRS_backend.h"
#include "AP_ExternalAHRS_VectorNav.h"
#include "AP_ExternalAHRS_MicroStrain5.h"
#include "AP_ExternalAHRS_LORD.h"
#include "AP_ExternalAHRS_MTI630.h"

#include <GCS_MAVLink/GCS.h>

Expand Down Expand Up @@ -100,11 +102,18 @@ void AP_ExternalAHRS::init(void)
#endif
#if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
case DevType::MicroStrain5:
backend = new AP_ExternalAHRS_MicroStrain5(this, state);
return;
#if AP_EXTERNAL_AHRS_LORD_ENABLED
case DevType::LORD:
break;
#endif
#if AP_EXTERNAL_MTI630_ENABLED
case DevType::MTI630:
backend = new AP_ExternalAHRS_MTI630(this, state);
break;
#endif
default:
}

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
Loading

0 comments on commit e0ddcde

Please sign in to comment.