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AP_MSP: cut more code out based on defines

This commit is contained in:
Peter Barker 2024-08-11 11:24:23 +10:00 committed by Peter Barker
parent 5c3aa91721
commit 610ba486ad
1 changed files with 24 additions and 12 deletions
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36
libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
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@ -503,93 +503,105 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_sensor_command(uint16_t cmd_m
MSP_UNUSED(src);
switch (cmd_msp) {
#if HAL_MSP_RANGEFINDER_ENABLED
case MSP2_SENSOR_RANGEFINDER: {
const MSP::msp_rangefinder_data_message_t *pkt = (const MSP::msp_rangefinder_data_message_t *)src->ptr;
msp_handle_rangefinder(*pkt);
}
break;
#endif
#if HAL_MSP_OPTICALFLOW_ENABLED
case MSP2_SENSOR_OPTIC_FLOW: {
const MSP::msp_opflow_data_message_t *pkt = (const MSP::msp_opflow_data_message_t *)src->ptr;
msp_handle_opflow(*pkt);
}
break;
#endif
#if HAL_MSP_GPS_ENABLED
case MSP2_SENSOR_GPS: {
const MSP::msp_gps_data_message_t *pkt = (const MSP::msp_gps_data_message_t *)src->ptr;
msp_handle_gps(*pkt);
}
break;
#endif
#if AP_COMPASS_MSP_ENABLED
case MSP2_SENSOR_COMPASS: {
const MSP::msp_compass_data_message_t *pkt = (const MSP::msp_compass_data_message_t *)src->ptr;
msp_handle_compass(*pkt);
}
break;
#endif
#if AP_BARO_MSP_ENABLED
case MSP2_SENSOR_BAROMETER: {
const MSP::msp_baro_data_message_t *pkt = (const MSP::msp_baro_data_message_t *)src->ptr;
msp_handle_baro(*pkt);
}
break;
#endif
#if AP_AIRSPEED_MSP_ENABLED && AP_AIRSPEED_ENABLED
case MSP2_SENSOR_AIRSPEED: {
const MSP::msp_airspeed_data_message_t *pkt = (const MSP::msp_airspeed_data_message_t *)src->ptr;
msp_handle_airspeed(*pkt);
}
break;
#endif
}
return MSP_RESULT_NO_REPLY;
}
#if HAL_MSP_OPTICALFLOW_ENABLED
void AP_MSP_Telem_Backend::msp_handle_opflow(const MSP::msp_opflow_data_message_t &pkt)
{
#if HAL_MSP_OPTICALFLOW_ENABLED
AP_OpticalFlow *optflow = AP::opticalflow();
if (optflow == nullptr) {
return;
}
optflow->handle_msp(pkt);
#endif
}
#endif
#if HAL_MSP_RANGEFINDER_ENABLED
void AP_MSP_Telem_Backend::msp_handle_rangefinder(const MSP::msp_rangefinder_data_message_t &pkt)
{
#if HAL_MSP_RANGEFINDER_ENABLED
RangeFinder *rangefinder = AP::rangefinder();
if (rangefinder == nullptr) {
return;
}
rangefinder->handle_msp(pkt);
#endif
}
#endif
#if HAL_MSP_GPS_ENABLED
void AP_MSP_Telem_Backend::msp_handle_gps(const MSP::msp_gps_data_message_t &pkt)
{
#if HAL_MSP_GPS_ENABLED
AP::gps().handle_msp(pkt);
#endif
}
#endif
#if AP_COMPASS_MSP_ENABLED
void AP_MSP_Telem_Backend::msp_handle_compass(const MSP::msp_compass_data_message_t &pkt)
{
#if AP_COMPASS_MSP_ENABLED
AP::compass().handle_msp(pkt);
#endif
}
#endif
#if AP_BARO_MSP_ENABLED
void AP_MSP_Telem_Backend::msp_handle_baro(const MSP::msp_baro_data_message_t &pkt)
{
#if AP_BARO_MSP_ENABLED
AP::baro().handle_msp(pkt);
#endif
}
#endif
#if AP_AIRSPEED_MSP_ENABLED && AP_AIRSPEED_ENABLED
void AP_MSP_Telem_Backend::msp_handle_airspeed(const MSP::msp_airspeed_data_message_t &pkt)
{
#if AP_AIRSPEED_MSP_ENABLED && AP_AIRSPEED_ENABLED
auto *airspeed = AP::airspeed();
if (airspeed) {
airspeed->handle_msp(pkt);
}
#endif
}
#endif
uint32_t AP_MSP_Telem_Backend::get_osd_flight_mode_bitmask(void)
{