AP_ExternalAHRS: link in CINS param table

tridge · May 9, 2024 · c9e1e57 · c9e1e57
1 parent a3e4c07
commit c9e1e57
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Showing 4 changed files with 20 additions and 3 deletions.
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -90,6 +90,13 @@ const AP_Param::GroupInfo AP_ExternalAHRS::var_info[] = {
     // @Units: Hz
     // @User: Standard
     AP_GROUPINFO("_LOG_RATE", 5, AP_ExternalAHRS, log_rate, 10),
+
+#if AP_EXTERNAL_AHRS_CINS_ENABLED
+    // @Group: _CINS_
+    // @Path: ../AP_CINS/AP_CINS.cpp
+    AP_SUBGROUPPTR(cins_ptr, "_CINS_", 6, AP_ExternalAHRS, AP_CINS),
+#endif
+
 
     AP_GROUPEND
 };
@@ -133,7 +140,7 @@ void AP_ExternalAHRS::init(void)
 
 #if AP_EXTERNAL_AHRS_CINS_ENABLED
     case DevType::CINS:
-        backend = new AP_ExternalAHRS_CINS(this, state);
+        backend = new AP_ExternalAHRS_CINS(this, state, cins_ptr);
         return;
 #endif
 

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -27,6 +27,10 @@
 #include <AP_Common/Location.h>
 #include <AP_NavEKF/AP_Nav_Common.h>
 
+#if AP_EXTERNAL_AHRS_CINS_ENABLED
+class AP_CINS;
+#endif
+
 class AP_ExternalAHRS_backend;
 
 class AP_ExternalAHRS {
@@ -203,6 +207,10 @@ class AP_ExternalAHRS {
 
     // true when user has disabled the GNSS
     bool gnss_is_disabled;
+
+#if AP_EXTERNAL_AHRS_CINS_ENABLED
+    AP_CINS *cins_ptr;
+#endif
 };
 
 namespace AP {

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_CINS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_CINS.cpp
@@ -24,9 +24,11 @@
 
 // constructor
 AP_ExternalAHRS_CINS::AP_ExternalAHRS_CINS(AP_ExternalAHRS *_frontend,
-                                           AP_ExternalAHRS::state_t &_state) :
+                                           AP_ExternalAHRS::state_t &_state,
+                                           AP_CINS *&cins_ptr) :
     AP_ExternalAHRS_backend(_frontend, _state)
 {
+    cins_ptr = &cins;
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CINS Started");
     cins.init();
 }

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_CINS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_CINS.h
@@ -28,7 +28,7 @@
 class AP_ExternalAHRS_CINS : public AP_ExternalAHRS_backend {
 
 public:
-    AP_ExternalAHRS_CINS(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
+    AP_ExternalAHRS_CINS(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state, AP_CINS *&cins_ptr);
 
     // accessors for AP_AHRS
     bool healthy(void) const override {