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AP_RangeFinder: text messages and more defines

This commit is contained in:
Andrew Tridgell 2023-04-08 14:27:51 +10:00
parent 00b9833fac
commit 1d5bf5a58a
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp
View File

@ -24,7 +24,7 @@ void AP_RangeFinder_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
} }
//Method to find the backend relating to the node id //Method to find the backend relating to the node id
AP_RangeFinder_DroneCAN* AP_RangeFinder_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new) AP_RangeFinder_DroneCAN* AP_RangeFinder_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new)
{ {
if (ap_dronecan == nullptr) { if (ap_dronecan == nullptr) {
return nullptr; return nullptr;
@ -65,7 +65,7 @@ AP_RangeFinder_DroneCAN* AP_RangeFinder_DroneCAN::get_uavcan_backend(AP_DroneCAN
if (driver == nullptr) { if (driver == nullptr) {
break; break;
} }
gcs().send_text(MAV_SEVERITY_INFO, "RangeFinder[%u]: added UAVCAN node %u addr %u", gcs().send_text(MAV_SEVERITY_INFO, "RangeFinder[%u]: added DroneCAN node %u addr %u",
unsigned(i), unsigned(node_id), unsigned(address)); unsigned(i), unsigned(node_id), unsigned(address));
//Assign node id and respective uavcan driver, for identification //Assign node id and respective uavcan driver, for identification
if (driver->_ap_dronecan == nullptr) { if (driver->_ap_dronecan == nullptr) {
@ -103,7 +103,7 @@ void AP_RangeFinder_DroneCAN::update()
void AP_RangeFinder_DroneCAN::handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg) void AP_RangeFinder_DroneCAN::handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg)
{ {
//fetch the matching uavcan driver, node id and sensor id backend instance //fetch the matching uavcan driver, node id and sensor id backend instance
AP_RangeFinder_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.sensor_id, true); AP_RangeFinder_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id, msg.sensor_id, true);
if (driver == nullptr) { if (driver == nullptr) {
return; return;
} }

2
libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h
View File

@ -20,7 +20,7 @@ public:
void update() override; void update() override;
static void subscribe_msgs(AP_DroneCAN* ap_dronecan); static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static AP_RangeFinder_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new); static AP_RangeFinder_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
static AP_RangeFinder_Backend* detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); static AP_RangeFinder_Backend* detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg); static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg);