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GCS_MAVLink: move sending of WATER_DEPTH into Rover code 

only compiled in on Rover at the moment.

need to add an additional Rover-specific check for frame type, so move this code into Rover for now.
This commit is contained in:
Peter Barker 2024-12-16 10:47:14 +11:00 committed by Peter Barker
parent c5284c6fdf
commit 33a788ebb5
2 changed files with 0 additions and 59 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -403,7 +403,6 @@ public:
#if AP_WINCH_ENABLED #if AP_WINCH_ENABLED
virtual void send_winch_status() const {}; virtual void send_winch_status() const {};
#endif #endif
void send_water_depth() const;
int8_t battery_remaining_pct(const uint8_t instance) const; int8_t battery_remaining_pct(const uint8_t instance) const;
#if HAL_HIGH_LATENCY2_ENABLED #if HAL_HIGH_LATENCY2_ENABLED

58
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -5966,57 +5966,6 @@ void GCS_MAVLINK::send_generator_status() const
} }
#endif #endif
#if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
void GCS_MAVLINK::send_water_depth() const
{
if (!HAVE_PAYLOAD_SPACE(chan, WATER_DEPTH)) {
return;
}
RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder == nullptr || !rangefinder->has_orientation(ROTATION_PITCH_270)){
return;
}
// get position
const AP_AHRS &ahrs = AP::ahrs();
Location loc;
IGNORE_RETURN(ahrs.get_location(loc));
for (uint8_t i=0; i<rangefinder->num_sensors(); i++) {
const AP_RangeFinder_Backend *s = rangefinder->get_backend(i);
if (s == nullptr || s->orientation() != ROTATION_PITCH_270 || !s->has_data()) {
continue;
}
// get temperature
float temp_C;
if (!s->get_temp(temp_C)) {
temp_C = 0.0f;
}
const bool sensor_healthy = (s->status() == RangeFinder::Status::Good);
mavlink_msg_water_depth_send(
chan,
AP_HAL::millis(), // time since system boot TODO: take time of measurement
i, // rangefinder instance
sensor_healthy, // sensor healthy
loc.lat, // latitude of vehicle
loc.lng, // longitude of vehicle
loc.alt * 0.01f, // altitude of vehicle (MSL)
ahrs.get_roll(), // roll in radians
ahrs.get_pitch(), // pitch in radians
ahrs.get_yaw(), // yaw in radians
s->distance(), // distance in meters
temp_C); // temperature in degC
}
}
#endif // AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
#if HAL_ADSB_ENABLED #if HAL_ADSB_ENABLED
void GCS_MAVLINK::send_uavionix_adsb_out_status() const void GCS_MAVLINK::send_uavionix_adsb_out_status() const
{ {
@ -6547,13 +6496,6 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break; break;
#endif #endif
#if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
case MSG_WATER_DEPTH:
CHECK_PAYLOAD_SIZE(WATER_DEPTH);
send_water_depth();
break;
#endif
#if HAL_HIGH_LATENCY2_ENABLED #if HAL_HIGH_LATENCY2_ENABLED
case MSG_HIGH_LATENCY2: case MSG_HIGH_LATENCY2:
CHECK_PAYLOAD_SIZE(HIGH_LATENCY2); CHECK_PAYLOAD_SIZE(HIGH_LATENCY2);