Created driver for the Anello X3 IMU as an ExternalAHRS #29551
+752
−1
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Does the device provide positioning or just sensor data? |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Added functionality to have Anello X3 binary data stream properly parsed and posted to the EKF as an ExternalAHRS backend instance.
Testing completed using the X3 on OrangeCube+, Pixhawk4, and PH4-mini.
As there are two gyros available within the X3 (the SiPhOG and a MEMS gyro), the EAHRS_OPTION parameter has been modified to include a "2" value interpretation, meaning "use the MEMS gyro of the X3 in lieu of the SiPhOG gyro".
New dataflash logging message types "AX31" and "AX32" which data from the serial payloads.
Comparison charts between the AX3 (IMU[0]) and the OrangeCube+ onboard IMU (IMU[1]):