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AP_ADSB: adjust for Location_Class and Location unification

This commit is contained in:
Peter Barker 2019-01-02 14:11:27 +11:00 committed by Peter Barker
parent 0215aff8f4
commit 384ab476b4
2 changed files with 8 additions and 8 deletions
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10
libraries/AP_ADSB/AP_ADSB.cpp
View File

@ -300,13 +300,13 @@ void AP_ADSB::determine_furthest_aircraft(void)
/*
* Convert/Extract a Location from a vehicle
*/
Location_Class AP_ADSB::get_location(const adsb_vehicle_t &vehicle) const
Location AP_ADSB::get_location(const adsb_vehicle_t &vehicle) const
{
Location_Class loc = Location_Class(
Location loc = Location(
vehicle.info.lat,
vehicle.info.lon,
vehicle.info.altitude * 0.1f,
Location_Class::ALT_FRAME_ABSOLUTE);
Location::ALT_FRAME_ABSOLUTE);
return loc;
}
@ -362,7 +362,7 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
uint16_t index = in_state.list_size + 1; // initialize with invalid index
adsb_vehicle_t vehicle {};
mavlink_msg_adsb_vehicle_decode(packet, &vehicle.info);
Location_Class vehicle_loc = Location_Class(AP_ADSB::get_location(vehicle));
const Location vehicle_loc = AP_ADSB::get_location(vehicle);
bool my_loc_is_zero = _my_loc.is_zero();
float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
bool out_of_range = in_state.list_radius > 0 && !my_loc_is_zero && my_loc_distance_to_vehicle > in_state.list_radius;
@ -740,7 +740,7 @@ void AP_ADSB::handle_transceiver_report(const mavlink_channel_t chan, const mavl
Note gps.time is the number of seconds since UTC midnight
*/
uint32_t AP_ADSB::genICAO(const Location_Class &loc)
uint32_t AP_ADSB::genICAO(const Location &loc)
{
// gps_time is not seconds since UTC midnight, but it is an equivalent random number
// TODO: use UTC time instead of GPS time

6
libraries/AP_ADSB/AP_ADSB.h
View File

@ -70,7 +70,7 @@ public:
UAVIONIX_ADSB_RF_HEALTH get_transceiver_status(void) { return out_state.status; }
// extract a location out of a vehicle item
Location_Class get_location(const adsb_vehicle_t &vehicle) const;
Location get_location(const adsb_vehicle_t &vehicle) const;
bool enabled() const {
return _enabled;
@ -99,7 +99,7 @@ private:
void set_vehicle(const uint16_t index, const adsb_vehicle_t &vehicle);
// Generates pseudorandom ICAO from gps time, lat, and lon
uint32_t genICAO(const Location_Class &loc);
uint32_t genICAO(const Location &loc);
// set callsign: 8char string (plus null termination) then optionally append last 4 digits of icao
void set_callsign(const char* str, const bool append_icao);
@ -122,7 +122,7 @@ private:
AP_Int8 _enabled;
Location_Class _my_loc;
Location _my_loc;
// ADSB-IN state. Maintains list of external vehicles