ExternalAHRS: fixed IMU access, check origin and common logging #26329
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when we change EAHRS_SENSORS to remove use of IMU from an external AHRS we need to be able to zero the accel and gyro offsets to get prearms to pass
common logging for all EAHRS backends
allow backends to determine if we are in fixed wing flight and/or the GPS is disabled by the user
Ryanf55
reviewed
Feb 27, 2024
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| bool get_gyro(Vector3f &gyro); | ||
| bool get_accel(Vector3f &accel); |
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Suggested change
| bool get_gyro(Vector3f &gyro); | |
| bool get_accel(Vector3f &accel); | |
| bool get_gyro(Vector3f &gyro) WARN_IF_UNUSED; | |
| bool get_accel(Vector3f &accel) WARN_IF_UNUSED; |
Force consumers to check the error state because otherwise, they can read garbage data.
| @@ -1378,6 +1378,9 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch | |||
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| case AUX_FUNC::GPS_DISABLE: | |||
| AP::gps().force_disable(ch_flag == AuxSwitchPos::HIGH); | |||
| #if HAL_EXTERNAL_AHRS_ENABLED | |||
| AP::externalAHRS().set_gnss_disable(ch_flag == AuxSwitchPos::HIGH); | |||
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Awesome to see this feature!
peterbarker
approved these changes
Feb 27, 2024
| @@ -23,17 +23,25 @@ bool AP_AHRS_External::healthy() const { | |||
| void AP_AHRS_External::get_results(AP_AHRS_Backend::Estimates &results) | |||
| { | |||
| Quaternion quat; | |||
| if (!AP::externalAHRS().get_quaternion(quat)) { | |||
| auto &extahrs = AP::externalAHRS(); | |||
| const AP_InertialSensor &_ins = AP::ins(); | |||
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More-tightly scope this?
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This pulls some patches from this PR
#23267
it also allows backends to know when GPS is disabled, for dead-reckoning testing