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AP_GPS: add specific defines for sending of GPS mavlink messages

This commit is contained in:
Peter Barker 2024-11-10 18:15:08 +11:00 committed by Andrew Tridgell
parent 19bce3b171
commit 199074ce34
4 changed files with 27 additions and 5 deletions
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8
libraries/AP_GPS/AP_GPS.cpp
View File

@ -1367,6 +1367,7 @@ uint16_t AP_GPS::gps_yaw_cdeg(uint8_t instance) const
return yaw_cd;
}
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
{
const Location &loc = location(0);
@ -1400,8 +1401,9 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
0, // TODO one-sigma heading accuracy standard deviation
gps_yaw_cdeg(0));
}
#endif // AP_GPS_GPS_RAW_INT_SENDING_ENABLED
#if GPS_MAX_RECEIVERS > 1
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
{
// always send the message if 2nd GPS is configured
@ -1442,9 +1444,9 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
sacc * 1000, // one-sigma standard deviation in mm/s
0); // TODO one-sigma heading accuracy standard deviation
}
#endif // GPS_MAX_RECEIVERS
#endif // AP_GPS_GPS2_RAW_SENDING_ENABLED
#if HAL_GCS_ENABLED
#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst)
{
if (inst >= GPS_MAX_RECEIVERS) {

17
libraries/AP_GPS/AP_GPS_config.h
View File

@ -104,3 +104,20 @@
#ifndef HAL_GPS_COM_PORT_DEFAULT
#define HAL_GPS_COM_PORT_DEFAULT 1
#endif
#ifndef AP_GPS_GPS_RAW_INT_SENDING_ENABLED
#define AP_GPS_GPS_RAW_INT_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED
#endif
#ifndef AP_GPS_GPS2_RAW_SENDING_ENABLED
#define AP_GPS_GPS2_RAW_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1
#endif
#ifndef AP_GPS_GPS_RTK_SENDING_ENABLED
#define AP_GPS_GPS_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED
#endif
#ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED
#define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1
#endif

5
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -172,7 +172,7 @@ bool AP_GPS_Backend::should_log() const
#endif
#if HAL_GCS_ENABLED
#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
{
const uint8_t instance = state.instance;
@ -212,7 +212,8 @@ void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
break;
}
}
#endif
#endif // AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
/*

2
libraries/AP_GPS/GPS_Backend.h
View File

@ -71,7 +71,9 @@ public:
#if HAL_GCS_ENABLED
//MAVLink methods
virtual bool supports_mavlink_gps_rtk_message() const { return false; }
#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
virtual void send_mavlink_gps_rtk(mavlink_channel_t chan);
#endif
virtual void handle_msg(const mavlink_message_t &msg) { return ; }
#endif