From 6e401548a86efb3072e38bdced01fa63e69fcad0 Mon Sep 17 00:00:00 2001 From: Samuel Toledano Date: Thu, 11 Sep 2025 10:37:41 +0200 Subject: [PATCH] sbgecom: Implement sbgECom INS driver (#24137) * Add new INS driver sbgECom Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot Be able to parametrize the serial port, baudrate and the communicating mode Clone sbgECom library only if sbgecom support is enabled and apply a patch Be able to send SBG Systems INS settings in several ways when starting sbgecom driver * Fix sensor airspeed simulator units * Fix HIGHRES_IMU pressure unit * Allow HIGHRES_IMU to support 4 IMUs * sbgECom: Add documentation * Use submodule instead of fetching sbgECom using CMake * Remove patch strategy * Fix dates * Remove patch file * Update SBG dev type ID Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Co-authored-by: Samuel Toledano Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --- src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp index 512fb3bce3..bb114196ad 100644 --- a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp +++ b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp @@ -171,6 +171,7 @@ void SensorAirspeedSim::Run() differential_pressure_s differential_pressure{}; // report.timestamp_sample = time; differential_pressure.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION + differential_pressure.differential_pressure_pa = diff_pressure * 100.0f * airspeed_blockage_scale; // hPa to Pa; differential_pressure.temperature = temperature_local + ABSOLUTE_ZERO_C; // K to C differential_pressure.timestamp = hrt_absolute_time();