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AP_GPS: allow forwards/backwards for DroneCAN type autoconfig 

ArduPilot configures a connected DroneCAN GPS based on its GPS Type.

Given parameter name changes, ArduPilot must be able to configure both new and old AP_Periphs, and new AP_Periphs have to cope with being configured by old ArduPilots.
This commit is contained in:
Peter Barker 2024-03-15 22:39:21 +11:00 committed by Peter Barker
parent 0e4b41baa6
commit 2a010623b2
3 changed files with 10 additions and 2 deletions
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2
libraries/AP_GPS/AP_GPS.cpp
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@ -318,7 +318,7 @@ bool AP_GPS::needs_uart(GPS_Type type) const
void AP_GPS::init() void AP_GPS::init()
{ {
// set the default for the first GPS according to define: // set the default for the first GPS according to define:
params[0].type.set_default(HAL_GPS_TYPE_DEFAULT); params[0].type.set_default(HAL_GPS1_TYPE_DEFAULT);
convert_parameters(); convert_parameters();

5
libraries/AP_GPS/AP_GPS.h
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@ -268,6 +268,11 @@ public:
/// Startup initialisation. /// Startup initialisation.
void init(); void init();
// ethod for APPPeriph to set the default type for the first GPS instance:
void set_default_type_for_gps1(uint8_t default_type) {
params[0].type.set_default(default_type);
}
/// Update GPS state based on possible bytes received from the module. /// Update GPS state based on possible bytes received from the module.
/// This routine must be called periodically (typically at 10Hz or /// This routine must be called periodically (typically at 10Hz or
/// more) to process incoming data. /// more) to process incoming data.

5
libraries/AP_GPS/AP_GPS_DroneCAN.cpp
View File

@ -676,7 +676,10 @@ bool AP_GPS_DroneCAN::do_config()
switch(cfg_step) { switch(cfg_step) {
case STEP_SET_TYPE: case STEP_SET_TYPE:
// GPS_TYPE was renamed GPS1_TYPE. Request both and
// handle whichever we receive.
ap_dronecan->get_parameter_on_node(node_id, "GPS_TYPE", &param_int_cb); ap_dronecan->get_parameter_on_node(node_id, "GPS_TYPE", &param_int_cb);
ap_dronecan->get_parameter_on_node(node_id, "GPS1_TYPE", &param_int_cb);
break; break;
case STEP_SET_MB_CAN_TX: case STEP_SET_MB_CAN_TX:
if (role != AP_GPS::GPS_Role::GPS_ROLE_NORMAL) { if (role != AP_GPS::GPS_Role::GPS_ROLE_NORMAL) {
@ -836,7 +839,7 @@ void AP_GPS_DroneCAN::inject_data(const uint8_t *data, uint16_t len)
bool AP_GPS_DroneCAN::handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan, uint8_t node_id, const char* name, int32_t &value) bool AP_GPS_DroneCAN::handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan, uint8_t node_id, const char* name, int32_t &value)
{ {
Debug("AP_GPS_DroneCAN: param set/get response from %d %s %ld\n", node_id, name, value); Debug("AP_GPS_DroneCAN: param set/get response from %d %s %ld\n", node_id, name, value);
if (strcmp(name, "GPS_TYPE") == 0 && cfg_step == STEP_SET_TYPE) { if (((strcmp(name, "GPS_TYPE") == 0) || (strcmp(name, "GPS1_TYPE") == 0)) && (cfg_step == STEP_SET_TYPE)) {
if (role == AP_GPS::GPS_ROLE_MB_BASE && value != AP_GPS::GPS_TYPE_UBLOX_RTK_BASE) { if (role == AP_GPS::GPS_ROLE_MB_BASE && value != AP_GPS::GPS_TYPE_UBLOX_RTK_BASE) {
value = (int32_t)AP_GPS::GPS_TYPE_UBLOX_RTK_BASE; value = (int32_t)AP_GPS::GPS_TYPE_UBLOX_RTK_BASE;
requires_save_and_reboot = true; requires_save_and_reboot = true;