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AP_MSP: removed unnecessary pure virtual methods

This commit is contained in:
yaapu 2021-09-07 10:21:16 +02:00 committed by Andrew Tridgell
parent e1b12fbee3
commit 53ea385291
8 changed files with 41 additions and 112 deletions
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38
libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
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@ -576,6 +576,44 @@ void AP_MSP_Telem_Backend::msp_handle_airspeed(const MSP::msp_airspeed_data_mess
#endif
}
MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_api_version(sbuf_t *dst)
{
const struct {
uint8_t proto;
uint8_t major;
uint8_t minor;
} api_version {
proto : MSP_PROTOCOL_VERSION,
major : API_VERSION_MAJOR,
minor : API_VERSION_MINOR
};
sbuf_write_data(dst, &api_version, sizeof(api_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_fc_version(sbuf_t *dst)
{
const struct {
uint8_t major;
uint8_t minor;
uint8_t patch;
} fc_version {
major : FC_VERSION_MAJOR,
minor : FC_VERSION_MINOR,
patch : FC_VERSION_PATCH_LEVEL
};
sbuf_write_data(dst, &fc_version, sizeof(fc_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_fc_variant(sbuf_t *dst)
{
sbuf_write_data(dst, "ARDU", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_raw_gps(sbuf_t *dst)
{
#if OSD_ENABLED

6
libraries/AP_MSP/AP_MSP_Telem_Backend.h
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@ -191,9 +191,9 @@ protected:
virtual AP_SerialManager::SerialProtocol get_serial_protocol() const = 0;
// implementation specific MSP out command processing
virtual MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) = 0;
virtual MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) = 0;
virtual MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) = 0;
virtual MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_uid(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_board_info(MSP::sbuf_t *dst);
virtual MSP::MSPCommandResult msp_process_out_build_info(MSP::sbuf_t *dst);

32
libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
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@ -82,38 +82,6 @@ uint32_t AP_MSP_Telem_DJI::get_osd_flight_mode_bitmask(void)
return mode_mask;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_api_version(sbuf_t *dst)
{
const struct {
uint8_t proto;
uint8_t major;
uint8_t minor;
} api_version {
proto : MSP_PROTOCOL_VERSION,
major : API_VERSION_MAJOR,
minor : API_VERSION_MINOR
};
sbuf_write_data(dst, &api_version, sizeof(api_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_version(sbuf_t *dst)
{
const struct {
uint8_t major;
uint8_t minor;
uint8_t patch;
} fc_version {
major : FC_VERSION_MAJOR,
minor : FC_VERSION_MINOR,
patch : FC_VERSION_PATCH_LEVEL
};
sbuf_write_data(dst, &fc_version, sizeof(fc_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_DJI::msp_process_out_fc_variant(sbuf_t *dst)
{
sbuf_write_data(dst, "BTFL", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);

2
libraries/AP_MSP/AP_MSP_Telem_DJI.h
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@ -55,8 +55,6 @@ public:
AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_DJI_FPV; };
uint32_t get_osd_flight_mode_bitmask(void) override;
void hide_osd_items(void) override;
MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_esc_sensor_data(MSP::sbuf_t *dst) override;

32
libraries/AP_MSP/AP_MSP_Telem_DisplayPort.cpp
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@ -25,38 +25,6 @@ extern const AP_HAL::HAL& hal;
using namespace MSP;
MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_api_version(sbuf_t *dst)
{
const struct {
uint8_t proto;
uint8_t major;
uint8_t minor;
} api_version {
proto : MSP_PROTOCOL_VERSION,
major : API_VERSION_MAJOR,
minor : API_VERSION_MINOR
};
sbuf_write_data(dst, &api_version, sizeof(api_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_version(sbuf_t *dst)
{
const struct {
uint8_t major;
uint8_t minor;
uint8_t patch;
} fc_version {
major : FC_VERSION_MAJOR,
minor : FC_VERSION_MINOR,
patch : FC_VERSION_PATCH_LEVEL
};
sbuf_write_data(dst, &fc_version, sizeof(fc_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_DisplayPort::msp_process_out_fc_variant(sbuf_t *dst)
{
const AP_MSP *msp = AP::msp();

2
libraries/AP_MSP/AP_MSP_Telem_DisplayPort.h
View File

@ -28,8 +28,6 @@ public:
bool use_msp_thread() const override { return false; }
AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_MSP_DisplayPort; };
MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
};

38
libraries/AP_MSP/AP_MSP_Telem_Generic.cpp
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@ -25,42 +25,4 @@ extern const AP_HAL::HAL& hal;
using namespace MSP;
MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_api_version(sbuf_t *dst)
{
const struct {
uint8_t proto;
uint8_t major;
uint8_t minor;
} api_version {
proto : MSP_PROTOCOL_VERSION,
major : API_VERSION_MAJOR,
minor : API_VERSION_MINOR
};
sbuf_write_data(dst, &api_version, sizeof(api_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_fc_version(sbuf_t *dst)
{
const struct {
uint8_t major;
uint8_t minor;
uint8_t patch;
} fc_version {
major : FC_VERSION_MAJOR,
minor : FC_VERSION_MINOR,
patch : FC_VERSION_PATCH_LEVEL
};
sbuf_write_data(dst, &fc_version, sizeof(fc_version));
return MSP_RESULT_ACK;
}
MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_fc_variant(sbuf_t *dst)
{
sbuf_write_data(dst, "ARDU", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
return MSP_RESULT_ACK;
}
#endif //HAL_MSP_ENABLED

3
libraries/AP_MSP/AP_MSP_Telem_Generic.h
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@ -26,9 +26,6 @@ class AP_MSP_Telem_Generic : public AP_MSP_Telem_Backend
public:
bool is_scheduler_enabled() const override { return false; }
AP_SerialManager::SerialProtocol get_serial_protocol() const override { return AP_SerialManager::SerialProtocol::SerialProtocol_MSP; };
MSP::MSPCommandResult msp_process_out_api_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_version(MSP::sbuf_t *dst) override;
MSP::MSPCommandResult msp_process_out_fc_variant(MSP::sbuf_t *dst) override;
};
#endif //HAL_MSP_ENABLED