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https://github.com/ArduPilot/ardupilot
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AP_GPS: confine inter-instance DroneCAN state checks to DroneCAN GPSs
stop these looking at parameters/state for all GPSs, focus on DroneCAN GPSs
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parent
ebfbcacfe3
commit
42805aa892
libraries/AP_GPS
@ -227,24 +227,13 @@ AP_GPS_Backend* AP_GPS_DroneCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
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bool AP_GPS_DroneCAN::inter_instance_pre_arm_checks(char failure_msg[], uint16_t failure_msg_len)
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{
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// only do these checks if there is at least one DroneCAN GPS:
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bool found_uavan_type = false;
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for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
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const auto type = AP::gps().params[i].type;
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if (type != AP_GPS::GPS_TYPE_UAVCAN &&
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type != AP_GPS::GPS_TYPE_UAVCAN_RTK_BASE &&
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type != AP_GPS::GPS_TYPE_UAVCAN_RTK_ROVER) {
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continue;
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}
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found_uavan_type = true;
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}
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if (!found_uavan_type) {
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return true;
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}
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// lint parameters and detected node IDs:
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for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
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const auto ¶ms_i = AP::gps().params[i];
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// we are only interested in parameters for DroneCAN GPSs:
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if (!is_dronecan_gps_type(params_i.type)) {
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continue;
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}
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bool overriden_node_found = false;
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bool bad_override_config = false;
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if (params_i.override_node_id == 0) {
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@ -253,6 +242,10 @@ bool AP_GPS_DroneCAN::inter_instance_pre_arm_checks(char failure_msg[], uint16_t
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}
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for (uint8_t j = 0; j < GPS_MAX_RECEIVERS; j++) {
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const auto ¶ms_j = AP::gps().params[j];
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// we are only interested in parameters for DroneCAN GPSs:
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if (!is_dronecan_gps_type(params_j.type)) {
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continue;
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}
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if (params_i.override_node_id == params_j.override_node_id && (i != j)) {
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bad_override_config = true;
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break;
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@ -149,6 +149,15 @@ private:
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uint32_t last_send_ms;
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ByteBuffer *buf;
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} _rtcm_stream;
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// returns true if the supplied GPS_Type is a DroneCAN GPS type
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static bool is_dronecan_gps_type(AP_GPS::GPS_Type type) {
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return (
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type == AP_GPS::GPS_TYPE_UAVCAN ||
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type == AP_GPS::GPS_TYPE_UAVCAN_RTK_BASE ||
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type == AP_GPS::GPS_TYPE_UAVCAN_RTK_ROVER
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);
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}
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};
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#endif // AP_GPS_DRONECAN_ENABLED
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