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AP_Airspeed: Add enabled check to get functions

This commit is contained in:
Gone4Dirt 2022-04-20 10:09:12 +01:00 committed by Peter Barker
parent e82ba228ce
commit 2ff83bea53
2 changed files with 40 additions and 12 deletions
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36
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -755,6 +755,40 @@ bool AP_Airspeed::healthy(uint8_t i) const {
return ok;
}
// return the current airspeed in m/s
float AP_Airspeed::get_airspeed(uint8_t i) const {
if (!enabled(i)) {
// we can't have negative airspeed so sending an obviously invalid value
return -1.0;
}
return state[i].airspeed;
}
// return the unfiltered airspeed in m/s
float AP_Airspeed::get_raw_airspeed(uint8_t i) const {
if (!enabled(i)) {
// we can't have negative airspeed so sending an obviously invalid value
return -1.0;
}
return state[i].raw_airspeed;
}
// return the differential pressure in Pascal for the last airspeed reading
float AP_Airspeed::get_differential_pressure(uint8_t i) const {
if (!enabled(i)) {
return 0.0;
}
return state[i].last_pressure;
}
// return the current corrected pressure
float AP_Airspeed::get_corrected_pressure(uint8_t i) const {
if (!enabled(i)) {
return 0.0;
}
return state[i].corrected_pressure;
}
#else // build type is not appropriate; provide a dummy implementation:
const AP_Param::GroupInfo AP_Airspeed::var_info[] = { AP_GROUPEND };
@ -764,6 +798,8 @@ void AP_Airspeed::calibrate(bool in_startup) {}
bool AP_Airspeed::use(uint8_t i) const { return false; }
bool AP_Airspeed::enabled(uint8_t i) const { return false; }
bool AP_Airspeed::healthy(uint8_t i) const { return false; }
float AP_Airspeed::get_airspeed(uint8_t i) const { return 0.0; }
float AP_Airspeed::get_differential_pressure(uint8_t i) const { return 0.0; }
#if HAL_MSP_AIRSPEED_ENABLED
void AP_Airspeed::handle_msp(const MSP::msp_airspeed_data_message_t &pkt) {}

16
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -73,15 +73,11 @@ public:
void calibrate(bool in_startup);
// return the current airspeed in m/s
float get_airspeed(uint8_t i) const {
return state[i].airspeed;
}
float get_airspeed(uint8_t i) const;
float get_airspeed(void) const { return get_airspeed(primary); }
// return the unfiltered airspeed in m/s
float get_raw_airspeed(uint8_t i) const {
return state[i].raw_airspeed;
}
float get_raw_airspeed(uint8_t i) const;
float get_raw_airspeed(void) const { return get_raw_airspeed(primary); }
// return the current airspeed ratio (dimensionless)
@ -114,9 +110,7 @@ public:
bool enabled(void) const { return enabled(primary); }
// return the differential pressure in Pascal for the last airspeed reading
float get_differential_pressure(uint8_t i) const {
return state[i].last_pressure;
}
float get_differential_pressure(uint8_t i) const;
float get_differential_pressure(void) const { return get_differential_pressure(primary); }
// update airspeed ratio calibration
@ -173,9 +167,7 @@ public:
static AP_Airspeed *get_singleton() { return _singleton; }
// return the current corrected pressure, public for AP_Periph
float get_corrected_pressure(uint8_t i) const {
return state[i].corrected_pressure;
}
float get_corrected_pressure(uint8_t i) const;
float get_corrected_pressure(void) const {
return get_corrected_pressure(primary);
}