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Rover: move Airspeed to AP_Vehicle

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This commit is contained in:
Joshua Henderson 2022-01-09 20:37:11 -05:00 committed by Andrew Tridgell
parent a765bb048d
commit 5f54daecee
6 changed files with 18 additions and 20 deletions
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18
Rover/Parameters.cpp
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@ -574,9 +574,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// 32 to 36 were old sailboat params
// @Group: ARSPD
// @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
AP_SUBGROUPINFO(airspeed, "ARSPD", 37, ParametersG2, AP_Airspeed),
// 37 was airspeed
// @Param: MIS_DONE_BEHAVE
// @DisplayName: Mission done behave
@ -711,7 +709,6 @@ ParametersG2::ParametersG2(void)
avoid(),
follow(),
windvane(),
airspeed(),
wp_nav(attitude_control, rover.L1_controller),
sailboat()
{
@ -843,4 +840,17 @@ void Rover::load_parameters(void)
AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON|
AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
#endif
// PARAMETER_CONVERSION - Added: JAN-2022
#if AP_AIRSPEED_ENABLED
// Find G2's Top Level Key
AP_Param::ConversionInfo info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
return;
}
const uint16_t old_index = 37; // Old parameter index in the tree
const uint16_t old_top_element = 4069; // Old group element in the tree for the first subgroup element
AP_Param::convert_class(info.old_key, &airspeed, airspeed.var_info, old_index, old_top_element, false);
#endif
}

3
Rover/Parameters.h
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@ -371,9 +371,6 @@ public:
// windvane
AP_WindVane windvane;
// Airspeed
AP_Airspeed airspeed;
// mission behave
AP_Int8 mis_done_behave;

1
Rover/Rover.cpp
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@ -130,7 +130,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
#if ADVANCED_FAILSAFE == ENABLED
SCHED_TASK(afs_fs_check, 10, 200, 129),
#endif
SCHED_TASK(read_airspeed, 10, 100, 132),
#if HAL_AIS_ENABLED
SCHED_TASK_CLASS(AP_AIS, &rover.g2.ais, update, 5, 100, 135),
#endif

2
Rover/Rover.h
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@ -27,7 +27,6 @@
#include <AC_PID/AC_PID.h>
#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
#include <AP_AHRS/AP_AHRS.h> // ArduPilot Mega DCM Library
#include <AP_Airspeed/AP_Airspeed.h> // needed for AHRS build
#include <AP_Baro/AP_Baro.h>
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
#include <AP_Beacon/AP_Beacon.h>
@ -352,7 +351,6 @@ private:
void compass_save(void);
void update_wheel_encoder();
void read_rangefinders(void);
void read_airspeed();
// Steering.cpp
void set_servos(void);

8
Rover/sensors.cpp
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@ -93,11 +93,3 @@ void Rover::read_rangefinders(void)
rangefinder.update();
Log_Write_Depth();
}
/*
ask airspeed sensor for a new value, duplicated from plane
*/
void Rover::read_airspeed(void)
{
g2.airspeed.update(should_log(MASK_LOG_IMU));
}

6
Rover/system.cpp
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@ -42,8 +42,6 @@ void Rover::init_ardupilot()
rssi.init();
g2.airspeed.init();
g2.windvane.init(serial_manager);
// init baro before we start the GCS, so that the CLI baro test works
@ -68,6 +66,10 @@ void Rover::init_ardupilot()
AP::compass().set_log_bit(MASK_LOG_COMPASS);
AP::compass().init();
#if AP_AIRSPEED_ENABLED
airspeed.set_log_bit(MASK_LOG_IMU);
#endif
// initialise rangefinder
rangefinder.set_log_rfnd_bit(MASK_LOG_RANGEFINDER);
rangefinder.init(ROTATION_NONE);