AP_ExternalAHRS: Added enum for temperature calibration status to ins_data_message_t

Author: ohyaiamhere

libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp

@@ -330,6 +330,23 @@ bool AP_ExternalAHRS::get_accel(Vector3f &accel)
     return true;
 }
 
+bool AP_ExternalAHRS::get_TempCalibration(TempCal &TempCalibration)
+{
+    if (!has_sensor(AvailableSensor::IMU)) {
+        TempCalibration = DoesntProvideTemp;
+        return false;
+    }
+    if (DevType(devtype) == DevType::MicroStrain7) {
+        TempCalibration = IsTempCalibrated;
+        return true;
+    }
+    else{
+        TempCalibration = IsNotTempCalibrated;
+        return true;    
+    }
+    
+}
+
 // send an EKF_STATUS message to GCS
 void AP_ExternalAHRS::send_status_report(GCS_MAVLINK &link) const
 {

libraries/AP_ExternalAHRS/AP_ExternalAHRS.h

@@ -86,6 +86,13 @@ class AP_ExternalAHRS {
     // get serial port number, -1 for not enabled
     int8_t get_port(AvailableSensor sensor) const;
 
+    enum TempCal {
+        DoesntProvideTemp,
+        IsNotTempCalibrated,
+        IsTempCalibrated
+    };
+
+
     struct state_t {
         HAL_Semaphore sem;
 
@@ -100,7 +107,6 @@ class AP_ExternalAHRS {
         bool have_origin;
         bool have_location;
         bool have_velocity;
-
         uint32_t last_location_update_us;
     } state;
 
@@ -119,6 +125,7 @@ class AP_ExternalAHRS {
     void get_filter_status(nav_filter_status &status) const;
     bool get_gyro(Vector3f &gyro);
     bool get_accel(Vector3f &accel);
+    bool get_TempCalibration(TempCal &TempCalibration);
     void send_status_report(class GCS_MAVLINK &link) const;
     bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const;
 
@@ -160,6 +167,7 @@ class AP_ExternalAHRS {
         Vector3f accel;
         Vector3f gyro;
         float temperature;
+        TempCal TempCalibration;
     } ins_data_message_t;
 
     typedef struct {