AP_ExternalAHRS: added InertialLabs backend

ArduPilot · Dec 5, 2023 · 0aacb9a · 0aacb9a
1 parent 61e8d3a
commit 0aacb9a
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Showing 5 changed files with 957 additions and 1 deletion.
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -25,6 +25,7 @@
 #include "AP_ExternalAHRS_VectorNav.h"
 #include "AP_ExternalAHRS_MicroStrain5.h"
 #include "AP_ExternalAHRS_MicroStrain7.h"
+#include "AP_ExternalAHRS_InertialLabs.h"
 
 #include <GCS_MAVLink/GCS.h>
 #include <AP_AHRS/AP_AHRS.h>
@@ -95,21 +96,31 @@ void AP_ExternalAHRS::init(void)
     case DevType::None:
         // nothing to do
         return;
+
 #if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
     case DevType::VecNav:
         backend = new AP_ExternalAHRS_VectorNav(this, state);
         return;
 #endif
+
 #if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
     case DevType::MicroStrain5:
         backend = new AP_ExternalAHRS_MicroStrain5(this, state);
         return;
 #endif
+
 #if AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
     case DevType::MicroStrain7:
         backend = new AP_ExternalAHRS_MicroStrain7(this, state);
         return;
 #endif
+
+#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+    case DevType::InertialLabs:
+        backend = new AP_ExternalAHRS_InertialLabs(this, state);
+        return;
+#endif
+
     }
 
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unsupported ExternalAHRS type %u", unsigned(devtype));

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -48,10 +48,12 @@ class AP_ExternalAHRS {
 #endif
 #if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
         MicroStrain5 = 2,
+#endif
+#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+        InertialLabs = 5,
 #endif
         // 3 reserved for AdNav
         // 4 reserved for CINS
-        // 5 reserved for InertialLabs
         // 6 reserved for Trimble
 #if AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
         MicroStrain7 = 7,
@@ -156,6 +158,11 @@ class AP_ExternalAHRS {
         float temperature;
     } ins_data_message_t;
 
+    typedef struct {
+        float differential_pressure; // Pa
+        float temperature; // degC
+    } airspeed_data_message_t;
+
 protected:
 
     enum class OPTIONS {