AP_ExternalAHRS: Added enum for temperature calibration status to ins_data_message_t

Author: ohyaiamhere

libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp

@@ -110,35 +110,40 @@ void AP_ExternalAHRS::init(void)
 #if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
     case DevType::VecNav:
         backend = NEW_NOTHROW AP_ExternalAHRS_VectorNav(this, state);
+        pkt.TempCalibration = IsNotTempCalibrated;
         return;
 #endif
 
 #if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
     case DevType::MicroStrain5:
         backend = NEW_NOTHROW AP_ExternalAHRS_MicroStrain5(this, state);
+        pkt.TempCalibration = IsNotTempCalibrated;
         return;
 #endif
 
 #if AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
     case DevType::MicroStrain7:
         backend = NEW_NOTHROW AP_ExternalAHRS_MicroStrain7(this, state);
+        pkt.TempCalibration = IsTempCalibrated;
         return;
 #endif
 
 #if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
     case DevType::InertialLabs:
         backend = NEW_NOTHROW AP_ExternalAHRS_InertialLabs(this, state);
+        pkt.TempCalibration = IsNotTempCalibrated;
         return;
 #endif
 
 #if AP_EXTERNAL_AHRS_SBG_ENABLED
     case DevType::SBG:
         backend = NEW_NOTHROW AP_ExternalAHRS_SBG(this, state);
+        pkt.TempCalibration = IsNotTempCalibrated;
         return;
 #endif // AP_EXTERNAL_AHRS_SBG_ENABLED
 
     }
-
+    pkt.TempCalibration = DoesntProvideTemp;
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unsupported ExternalAHRS type %u", unsigned(devtype));
 }
 

libraries/AP_ExternalAHRS/AP_ExternalAHRS.h

@@ -88,6 +88,13 @@ class AP_ExternalAHRS {
     // get serial port number, -1 for not enabled
     int8_t get_port(AvailableSensor sensor) const;
 
+    enum TempCal {
+        DoesntProvideTemp,
+        IsNotTempCalibrated,
+        IsTempCalibrated
+    };
+
+
     struct state_t {
         HAL_Semaphore sem;
 
@@ -102,7 +109,6 @@ class AP_ExternalAHRS {
         bool have_origin;
         bool have_location;
         bool have_velocity;
-
         uint32_t last_location_update_us;
     } state;
 
@@ -162,6 +168,7 @@ class AP_ExternalAHRS {
         Vector3f accel;
         Vector3f gyro;
         float temperature;
+        TempCal TempCalibration;
     } ins_data_message_t;
 
     typedef struct {
@@ -206,6 +213,8 @@ class AP_ExternalAHRS {
 
     // true when user has disabled the GNSS
     bool gnss_is_disabled;
+
+    ins_data_message_t pkt;
 };
 
 namespace AP {