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AP_Airspeed: move Airspeed up to AP_Vehicle, use dummy class for Copter

This commit is contained in:
Peter Barker 2022-01-02 02:41:01 -05:00 committed by Andrew Tridgell
parent 1831a1a009
commit 2d0d2a123d
1 changed files with 31 additions and 1 deletions
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32
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -16,6 +16,19 @@
* AP_Airspeed.cpp - airspeed (pitot) driver
*/
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "AP_Airspeed.h"
// Dummy the AP_Airspeed class to allow building Airspeed only for plane, rover, sub, and copter & heli 2MB boards
// This could be removed once the build system allows for APM_BUILD_TYPE in header files
#ifndef AP_AIRSPEED_DUMMY_METHODS_ENABLED
#define AP_AIRSPEED_DUMMY_METHODS_ENABLED ((APM_BUILD_COPTER_OR_HELI && BOARD_FLASH_SIZE <= 1024) || \
APM_BUILD_TYPE(APM_BUILD_AntennaTracker) || APM_BUILD_TYPE(APM_BUILD_Blimp))
#endif
#if !AP_AIRSPEED_DUMMY_METHODS_ENABLED
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
@ -25,7 +38,6 @@
#include <AP_Logger/AP_Logger.h>
#include <utility>
#include <AP_Vehicle/AP_Vehicle.h>
#include "AP_Airspeed.h"
#include "AP_Airspeed_MS4525.h"
#include "AP_Airspeed_MS5525.h"
#include "AP_Airspeed_SDP3X.h"
@ -716,6 +728,24 @@ bool AP_Airspeed::all_healthy(void) const
return true;
}
#else // build type is not appropriate; provide a dummy implementation:
const AP_Param::GroupInfo AP_Airspeed::var_info[] = { AP_GROUPEND };
void AP_Airspeed::update() {};
bool AP_Airspeed::get_temperature(uint8_t i, float &temperature) { return false; }
void AP_Airspeed::calibrate(bool in_startup) {}
bool AP_Airspeed::use(uint8_t i) const { return false; }
#if HAL_MSP_AIRSPEED_ENABLED
void AP_Airspeed::handle_msp(const MSP::msp_airspeed_data_message_t &pkt) {}
#endif
bool AP_Airspeed::all_healthy(void) const { return false; }
void AP_Airspeed::init(void) {};
AP_Airspeed::AP_Airspeed() {}
#endif // #if AP_AIRSPEED_DUMMY_METHODS_ENABLED
// singleton instance
AP_Airspeed *AP_Airspeed::_singleton;