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AP_GPS: confine inter-instance DroneCAN state checks to DroneCAN GPSs

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stop these looking at parameters/state for all GPSs, focus on DroneCAN GPSs
This commit is contained in:
Peter Barker 2024-06-28 13:10:32 +10:00 committed by Andrew Tridgell
parent ebfbcacfe3
commit 42805aa892
2 changed files with 17 additions and 15 deletions
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23
libraries/AP_GPS/AP_GPS_DroneCAN.cpp
View File

@ -227,24 +227,13 @@ AP_GPS_Backend* AP_GPS_DroneCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
bool AP_GPS_DroneCAN::inter_instance_pre_arm_checks(char failure_msg[], uint16_t failure_msg_len) bool AP_GPS_DroneCAN::inter_instance_pre_arm_checks(char failure_msg[], uint16_t failure_msg_len)
{ {
// only do these checks if there is at least one DroneCAN GPS:
bool found_uavan_type = false;
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
const auto type = AP::gps().params[i].type;
if (type != AP_GPS::GPS_TYPE_UAVCAN &&
type != AP_GPS::GPS_TYPE_UAVCAN_RTK_BASE &&
type != AP_GPS::GPS_TYPE_UAVCAN_RTK_ROVER) {
continue;
}
found_uavan_type = true;
}
if (!found_uavan_type) {
return true;
}
// lint parameters and detected node IDs: // lint parameters and detected node IDs:
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) { for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
const auto &params_i = AP::gps().params[i]; const auto &params_i = AP::gps().params[i];
// we are only interested in parameters for DroneCAN GPSs:
if (!is_dronecan_gps_type(params_i.type)) {
continue;
}
bool overriden_node_found = false; bool overriden_node_found = false;
bool bad_override_config = false; bool bad_override_config = false;
if (params_i.override_node_id == 0) { if (params_i.override_node_id == 0) {
@ -253,6 +242,10 @@ bool AP_GPS_DroneCAN::inter_instance_pre_arm_checks(char failure_msg[], uint16_t
} }
for (uint8_t j = 0; j < GPS_MAX_RECEIVERS; j++) { for (uint8_t j = 0; j < GPS_MAX_RECEIVERS; j++) {
const auto &params_j = AP::gps().params[j]; const auto &params_j = AP::gps().params[j];
// we are only interested in parameters for DroneCAN GPSs:
if (!is_dronecan_gps_type(params_j.type)) {
continue;
}
if (params_i.override_node_id == params_j.override_node_id && (i != j)) { if (params_i.override_node_id == params_j.override_node_id && (i != j)) {
bad_override_config = true; bad_override_config = true;
break; break;

9
libraries/AP_GPS/AP_GPS_DroneCAN.h
View File

@ -149,6 +149,15 @@ private:
uint32_t last_send_ms; uint32_t last_send_ms;
ByteBuffer *buf; ByteBuffer *buf;
} _rtcm_stream; } _rtcm_stream;
// returns true if the supplied GPS_Type is a DroneCAN GPS type
static bool is_dronecan_gps_type(AP_GPS::GPS_Type type) {
return (
type == AP_GPS::GPS_TYPE_UAVCAN ||
type == AP_GPS::GPS_TYPE_UAVCAN_RTK_BASE ||
type == AP_GPS::GPS_TYPE_UAVCAN_RTK_ROVER
);
}
}; };
#endif // AP_GPS_DRONECAN_ENABLED #endif // AP_GPS_DRONECAN_ENABLED