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AP_GPS: move constructor and complex accessors to cpp file

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These functions are slightly long and make the .h file hard to read.  Also saves a small amount of flash space.
No functional change
This commit is contained in:
Randy Mackay 2017-03-08 18:56:52 +09:00
parent 0066022a7f
commit 3172657f26
2 changed files with 63 additions and 43 deletions
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55
libraries/AP_GPS/AP_GPS.cpp
View File

@ -242,6 +242,12 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
AP_GROUPEND
};
// constructor
AP_GPS::AP_GPS()
{
AP_Param::setup_object_defaults(this, var_info);
}
/// Startup initialisation.
void AP_GPS::init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager)
{
@ -266,10 +272,48 @@ void AP_GPS::init(DataFlash_Class *dataflash, const AP_SerialManager& serial_man
// baudrates to try to detect GPSes with
const uint32_t AP_GPS::_baudrates[] = {4800U, 19200U, 38400U, 115200U, 57600U, 9600U, 230400U};
// return number of active GPS sensors. Note that if the first GPS
// is not present but the 2nd is then we return 2. Note that a blended
// GPS solution is treated as an additional sensor.
uint8_t AP_GPS::num_sensors(void) const
{
if (!_output_is_blended) {
return num_instances;
} else {
return num_instances+1;
}
}
// initialisation blobs to send to the GPS to try to get it into the
// right mode
const char AP_GPS::_initialisation_blob[] = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY;
bool AP_GPS::speed_accuracy(uint8_t instance, float &sacc) const
{
if (state[instance].have_speed_accuracy) {
sacc = state[instance].speed_accuracy;
return true;
}
return false;
}
bool AP_GPS::horizontal_accuracy(uint8_t instance, float &hacc) const
{
if (state[instance].have_horizontal_accuracy) {
hacc = state[instance].horizontal_accuracy;
return true;
}
return false;
}
bool AP_GPS::vertical_accuracy(uint8_t instance, float &vacc) const
{
if (state[instance].have_vertical_accuracy) {
vacc = state[instance].vertical_accuracy;
return true;
}
return false;
}
/**
convert GPS week and milliseconds to unix epoch in milliseconds
@ -996,6 +1040,17 @@ float AP_GPS::get_lag(uint8_t instance) const
}
}
// return a 3D vector defining the offset of the GPS antenna in meters relative to the body frame origin
const Vector3f &AP_GPS::get_antenna_offset(uint8_t instance) const
{
if (instance == GPS_MAX_RECEIVERS) {
// return an offset for the blended GPS solution
return _blended_antenna_offset;
} else {
return _antenna_offset[instance];
}
}
/*
return gps update rate in milliseconds
*/

51
libraries/AP_GPS/AP_GPS.h
View File

@ -46,10 +46,6 @@ class AP_GPS_Backend;
class AP_GPS
{
public:
// constructor
AP_GPS() {
AP_Param::setup_object_defaults(this, var_info);
}
/// Startup initialisation.
void init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager);
@ -58,6 +54,8 @@ public:
/// This routine must be called periodically (typically at 10Hz or
/// more) to process incoming data.
void update(void);
// constructor
AP_GPS();
// GPS driver types
enum GPS_Type {
@ -144,13 +142,7 @@ public:
// return number of active GPS sensors. Note that if the first GPS
// is not present but the 2nd is then we return 2. Note that a blended
// GPS solution is treated as an additional sensor.
uint8_t num_sensors(void) const {
if (!_output_is_blended) {
return num_instances;
} else {
return num_instances+1;
}
}
uint8_t num_sensors(void) const;
// Return the index of the primary sensor which is the index of the sensor contributing to
// the output. A blended solution is available as an additional instance
@ -177,38 +169,18 @@ public:
return location(primary_instance);
}
bool speed_accuracy(uint8_t instance, float &sacc) const {
if(state[instance].have_speed_accuracy) {
sacc = state[instance].speed_accuracy;
return true;
}
return false;
}
// report speed accuracy
bool speed_accuracy(uint8_t instance, float &sacc) const;
bool speed_accuracy(float &sacc) const {
return speed_accuracy(primary_instance, sacc);
}
bool horizontal_accuracy(uint8_t instance, float &hacc) const {
if(state[instance].have_horizontal_accuracy) {
hacc = state[instance].horizontal_accuracy;
return true;
}
return false;
}
bool horizontal_accuracy(uint8_t instance, float &hacc) const;
bool horizontal_accuracy(float &hacc) const {
return horizontal_accuracy(primary_instance, hacc);
}
bool vertical_accuracy(uint8_t instance, float &vacc) const {
if(state[instance].have_vertical_accuracy) {
vacc = state[instance].vertical_accuracy;
return true;
}
return false;
}
bool vertical_accuracy(uint8_t instance, float &vacc) const;
bool vertical_accuracy(float &vacc) const {
return vertical_accuracy(primary_instance, vacc);
}
@ -332,14 +304,7 @@ public:
uint16_t get_rate_ms(uint8_t instance) const;
// return a 3D vector defining the offset of the GPS antenna in meters relative to the body frame origin
const Vector3f &get_antenna_offset(uint8_t instance) const {
if (instance == GPS_MAX_RECEIVERS) {
// return an offset for the blended GPS solution
return _blended_antenna_offset;
} else {
return _antenna_offset[instance];
}
}
const Vector3f &get_antenna_offset(uint8_t instance) const;
// set position for HIL
void setHIL(uint8_t instance, GPS_Status status, uint64_t time_epoch_ms,