void LR_MsgHandler_IMT_Base::update_from_msg_imt(uint8_t imu_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
if (!use_imt) {
return;
}
uint8_t this_imu_mask = 1 << imu_offset;
float delta_time = 0;
require_field(msg, "DelT", delta_time);
ins.set_delta_time(delta_time);
if (gyro_mask & this_imu_mask) {
Vector3f d_angle;
require_field(msg, "DelA", d_angle);
float d_angle_dt;
if (!field_value(msg, "DelaT", d_angle_dt)) {
d_angle_dt = 0;
}
ins.set_delta_angle(imu_offset, d_angle, d_angle_dt);
}
if (accel_mask & this_imu_mask) {
float dvt = 0;
require_field(msg, "DelvT", dvt);
Vector3f d_velocity;
require_field(msg, "DelV", d_velocity);
ins.set_delta_velocity(imu_offset, dvt, d_velocity);
}
}
void LR_MsgHandler_BARO::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
baro.setHIL(0,
require_field_float(msg, "Press"),
require_field_int16_t(msg, "Temp") * 0.01f);
}
void LR_MsgHandler_ARSP::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
airspeed.setHIL(require_field_float(msg, "Airspeed"),
require_field_float(msg, "DiffPress"),
require_field_float(msg, "Temp"));
}
void LR_MsgHandler_ARM::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
uint8_t ArmState = require_field_uint8_t(msg, "ArmState");
hal.util->set_soft_armed(ArmState);
printf("Armed state: %u at %lu\n",
(unsigned)ArmState,
(unsigned long)AP_HAL::millis());
}
void LR_MsgHandler_CHEK::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
check_state.time_us = AP_HAL::micros64();
attitude_from_msg(msg, check_state.euler, "Roll", "Pitch", "Yaw");
check_state.euler *= radians(1);
location_from_msg(msg, check_state.pos, "Lat", "Lng", "Alt");
require_field(msg, "VN", check_state.velocity.x);
require_field(msg, "VE", check_state.velocity.y);
require_field(msg, "VD", check_state.velocity.z);
}
void LR_MsgHandler_BARO::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
uint32_t last_update_ms;
if (!field_value(msg, "SMS", last_update_ms)) {
last_update_ms = 0;
}
baro.setHIL(0,
require_field_float(msg, "Press"),
require_field_int16_t(msg, "Temp") * 0.01f,
require_field_float(msg, "Alt"),
require_field_float(msg, "CRt"),
last_update_ms);
}
void LR_MsgHandler_MAG_Base::update_from_msg_compass(uint8_t compass_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
Vector3f mag;
require_field(msg, "Mag", mag);
Vector3f mag_offset;
require_field(msg, "Ofs", mag_offset);
compass.setHIL(compass_offset, mag - mag_offset);
// compass_offset is which compass we are setting info for;
// mag_offset is a vector indicating the compass' calibration...
compass.set_offsets(compass_offset, mag_offset);
}
void LR_MsgHandler_IMU_Base::update_from_msg_imu(uint8_t imu_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
uint8_t this_imu_mask = 1 << imu_offset;
if (gyro_mask & this_imu_mask) {
Vector3f gyro;
require_field(msg, "Gyr", gyro);
ins.set_gyro(imu_offset, gyro);
}
if (accel_mask & this_imu_mask) {
Vector3f accel2;
require_field(msg, "Acc", accel2);
ins.set_accel(imu_offset, accel2);
}
}
void LR_MsgHandler_MAG_Base::update_from_msg_compass(uint8_t compass_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
Vector3f mag;
require_field(msg, "Mag", mag);
Vector3f mag_offset;
require_field(msg, "Ofs", mag_offset);
uint32_t last_update_usec;
if (!field_value(msg, "S", last_update_usec)) {
last_update_usec = AP_HAL::micros();
}
compass.setHIL(compass_offset, mag - mag_offset, last_update_usec);
// compass_offset is which compass we are setting info for;
// mag_offset is a vector indicating the compass' calibration...
compass.set_offsets(compass_offset, mag_offset);
}
void LR_MsgHandler_ATT::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
attitude_from_msg(msg, attitude, "Roll", "Pitch", "Yaw");
}
void LR_MsgHandler_NKF1::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
}
void MsgHandler_SIM::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
attitude_from_msg(msg, sim_attitude, "Roll", "Pitch", "Yaw");
}
