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AP_GPS: remove code if blended instance is not available

This commit is contained in:
Peter Barker 2023-07-18 18:33:59 +10:00 committed by Andrew Tridgell
parent ae1eb93aec
commit 407cfc22ca
3 changed files with 12 additions and 3 deletions
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2
libraries/AP_Arming/AP_Arming.cpp
View File

@ -618,10 +618,12 @@ bool AP_Arming::gps_checks(bool report)
(double)distance_m);
return false;
}
#if defined(GPS_BLENDED_INSTANCE)
if (!gps.blend_health_check()) {
check_failed(ARMING_CHECK_GPS, report, "GPS blending unhealthy");
return false;
}
#endif
// check AHRS and GPS are within 10m of each other
if (gps.num_sensors() > 0) {

11
libraries/AP_GPS/AP_GPS.cpp
View File

@ -470,8 +470,10 @@ void AP_GPS::init(const AP_SerialManager& serial_manager)
}
_last_instance_swap_ms = 0;
#if defined(GPS_BLENDED_INSTANCE)
// Initialise class variables used to do GPS blending
_omega_lpf = 1.0f / constrain_float(_blend_tc, 5.0f, 30.0f);
#endif
// prep the state instance fields
for (uint8_t i = 0; i < GPS_MAX_INSTANCES; i++) {
@ -491,11 +493,12 @@ void AP_GPS::init(const AP_SerialManager& serial_manager)
// GPS solution is treated as an additional sensor.
uint8_t AP_GPS::num_sensors(void) const
{
if (!_output_is_blended) {
return num_instances;
} else {
#if defined(GPS_BLENDED_INSTANCE)
if (_output_is_blended) {
return num_instances+1;
}
#endif
return num_instances;
}
bool AP_GPS::speed_accuracy(uint8_t instance, float &sacc) const
@ -1542,11 +1545,13 @@ bool AP_GPS::all_consistent(float &distance) const
return (distance < 50);
}
#if defined(GPS_BLENDED_INSTANCE)
// pre-arm check of GPS blending. True means healthy or that blending is not being used
bool AP_GPS::blend_health_check() const
{
return (_blend_health_counter < 50);
}
#endif
/*
re-assemble fragmented RTCM data

2
libraries/AP_GPS/AP_GPS.h
View File

@ -730,6 +730,7 @@ private:
void inject_data(const uint8_t *data, uint16_t len);
void inject_data(uint8_t instance, const uint8_t *data, uint16_t len);
#if defined(GPS_BLENDED_INSTANCE)
// GPS blending and switching
Vector3f _blended_antenna_offset; // blended antenna offset
float _blended_lag_sec; // blended receiver lag in seconds
@ -743,6 +744,7 @@ private:
// calculate the blended state
void calc_blended_state(void);
#endif
bool should_log() const;