AP_ExternalAHRS: Actualize handler and simulator of the Inertial Labs EAHRS

[valbv]

Fix bugs and add the new data handling

[valbv]

Hello guys, we also tested this changes in the real flight. If you need some logs, we will try to provide it.

[peterbarker]

This PR is actually looking pretty good. I'm really just arguing about the shape of the patches, not the additions and fixes you're making!

[peterbarker]

Commit with whitespace changes was removed

Thanks.

Should I resolve conversations after fixing or conversation starter will make it if it's done?

We don't have a solid attitude on this. I like to resolve the conversations that I've started, but I've seen plenty of people close them as they're done.

[valbv]

Done, I removed all renaming changes

[peterbarker]

Board                    AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
CubeOrange-periph-heavy  *
Durandal                            5688   *           5688    5704              5688   5680   5672
Hitec-Airspeed           *
KakuteH7-bdshot                     5336   *           5344    5344              5344   5328   5328
MatekF405                           *      *           *       *                 *      *      *
Pixhawk1-1M-bdshot                  *                  *       *                 *      *      *
f103-QiotekPeriph        *
f303-Universal           *
iomcu                                                                *
revo-mini                           *      *           *       *                 *      *      *
skyviper-v2450                                         *

That's a lot of extra bytes.

That's not necessarily a show-stopper, but for reference that's about 20% of the remaining flash space on our most popular board's bdshot build.

[valbv]

The comments appear to have been corrected. What should I do to merge this PR?

[peterbarker]

The comments appear to have been corrected. What should I do to merge this PR?

I've marked it for discussion at our DevCall meeting this-evening.

[peterbarker]

We have an intent to make all ExternalAHRS drivers not built into ArduPilot by default in ArduPilot 4.7.

That would require users to use custom.ardupilot.org to include any ExternalAHRS driver.

[peterbarker]

We can merge this once the API change to the EXternalAHRS library has been removed

[peterbarker]

Merged, thanks!

[valbv]

Thanks for revirew!