AP_ExternalAHRS: Added enum for temperature calibration status to ins_data_message_t

Author: ohyaiamhere

libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp

@@ -138,7 +138,7 @@ void AP_ExternalAHRS::init(void)
 #endif // AP_EXTERNAL_AHRS_SBG_ENABLED
 
     }
-
+    
     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 class 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 = TempCal::IsNotTempCalibrated;
     } ins_data_message_t;
 
     typedef struct {

libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp

@@ -124,11 +124,10 @@ void AP_ExternalAHRS_MicroStrain5::post_imu() const
     }
 
     {
-        AP_ExternalAHRS::ins_data_message_t ins {
-            accel: imu_data.accel,
-            gyro: imu_data.gyro,
-            temperature: -300
-        };
+        AP_ExternalAHRS::ins_data_message_t ins;
+        ins.accel = imu_data.accel;
+        ins.gyro = imu_data.gyro;
+        ins.temperature= -300;
         AP::ins().handle_external(ins);
     }
 

libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp

@@ -152,13 +152,11 @@ void AP_ExternalAHRS_MicroStrain7::post_imu() const
     }
 
     {
-        // *INDENT-OFF*
-        AP_ExternalAHRS::ins_data_message_t ins {
-            accel: imu_data.accel,
-            gyro: imu_data.gyro,
-            temperature: -300
-        };
-        // *INDENT-ON*
+        AP_ExternalAHRS::ins_data_message_t ins;
+        ins.accel = imu_data.accel;
+        ins.gyro = imu_data.gyro;
+        ins.temperature= -300;
+        ins.TempCalibration = AP_ExternalAHRS::TempCal::IsTempCalibrated;
         AP::ins().handle_external(ins);
     }