EAHRS: Add network support

Signed-off-by: Ryan Friedman <[email protected]>
Ryanf55 · May 12, 2024 · 4177d8b · 4177d8b
1 parent 3b813b1
commit 4177d8b
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diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_GSOF.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_GSOF.cpp
@@ -64,6 +64,9 @@ AP_ExternalAHRS_GSOF::AP_ExternalAHRS_GSOF(AP_ExternalAHRS *_frontend,
 
 void AP_ExternalAHRS_GSOF::update_thread(void)
 {
+    auto& network = AP::network();
+    [[maybe_unused]] const char *dest_ip = param.remote_ip.get_str();
+    network.startup_wait();
     if (!port_open) {
         port_open = true;
         uart->begin(baudrate);

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_GSOF.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_GSOF.h
@@ -34,6 +34,7 @@
 #include <AP_GPS/AP_GPS.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_GSOF/AP_GSOF.h>
+#include <AP_Networking/AP_Networking.h>
 
 class AP_ExternalAHRS_GSOF: public AP_ExternalAHRS_backend, public AP_GSOF
 {
@@ -78,6 +79,14 @@ class AP_ExternalAHRS_GSOF: public AP_ExternalAHRS_backend, public AP_GSOF
     void post_gnss() const;
     void post_filter() const;
 
+    struct {
+        // The GSOF EAHRS's IP address (unicast or multicast).
+        AP_Networking_IPV4 remote_ip{AP_EXTERNAL_AHRS_GSOF_IP};
+        // // The port for streamed data.
+        // AP_Int32 remote_data_port{0};
+        // // The port for configuration command/responses.
+        // AP_Int32 remote_cfg_port{0};
+    } param;
     uint32_t baudrate;
     int8_t port_num;
     bool port_open = false;

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
@@ -32,4 +32,12 @@
 
 #ifndef AP_EXTERNAL_AHRS_GSOF_ENABLED
 #define AP_EXTERNAL_AHRS_GSOF_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
+#ifndef AP_EXTERNAL_AHRS_GSOF_IP
+#define AP_EXTERNAL_AHRS_GSOF_IP "239.255.10.10"
 #endif
+#ifndef AP_EXTERNAL_AHRS_GSOF_PORT
+#define AP_EXTERNAL_AHRS_GSOF_PORT 44445
+#endif
+#endif
+
+