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AP_ExternalAHRS_AdvancedNavigation #23267

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AP_ExternalAHRS_AdvancedNavigation #23267

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Commits on Aug 15, 2024

  1. AP_HAL_SITL: Added Software simulation for Advanced Navigation Devices. 

    Adds ability for SITL Simulation of an AdNav device to be used by making a simulated serial port.
Changes create a SITL::AdNav class when requested on the command line
    @AN-DanielCook @tridge
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  2. SITL: Added Simulation for Advanced Navigation Devices 

    Added a SITL::AdNav class to emulate a ANPP Device communicating with the Advanced Navigation External AHRS module
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  3. Tools: added AdvancedNavigationEAHRS auto test

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  4. AP_ExternalAHRS: Added Advanced Navigation Device Support 

    EAHRS_TYPE: 3 (AdNav) has been added to the AP_External_AHRS.h/.cpp files.
New Class AP_ExternalAHRS_AdvancedNavigation added in new .cpp/.h files.
Supports any Advanced Navigation Packet Protocol (ANPP) device with different devices having slight behaviour changes.
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  5. AP_EXTERNAL_AHRS: Add funciton definitions to change Adnav filter set… 

    …tings
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  6. AP_ExternalAHRS: Added filter updates for advanced navigation devices 

    When running EAHRS update it will now check for flight mode and gnss enable and request the appropriate changes in the device filter.
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  7. AP_ExternalAHRS: Fixed ANPP Msg Formatting issues

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  8. AP_ExternalAHRS: fixed origin and latlon scale for AdNav driver

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  9. AP_ExternalAHRS: Fixed formatting and comments

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  10. AP_ExternalAHRS: Added Airspeed Aiding for AdNav Devices and fixed so… 

    …me bugs
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  11. AP_ExternalAHRS: Added num_gps_sensors to fix abstract class errors

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  12. AP_ExternalAHRS: Added Acknowledgement GCS Messages for AdNav 

    Applied PR Suggestions
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  13. AP_STIL: Fixed AP_BARO calls in SIM_AdNAV

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  14. AP_ExternalAHRS_AdvancedNavigation: Rearranged the way initialization… 

    … is handled to prevent locking of thread.
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