mirror of https://github.com/ArduPilot/ardupilot
AP_ExternalAHRS: added support for GPS disable and fwd flight
allow backends to determine if we are in fixed wing flight and/or the GPS is disabled by the user
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3a586b2215
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77e5446595
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@ -164,6 +164,11 @@ public:
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float temperature; // degC
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} airspeed_data_message_t;
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// set GNSS disable for auxillary function GPS_DISABLE
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void set_gnss_disable(bool disable) {
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gnss_is_disabled = disable;
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}
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protected:
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enum class OPTIONS {
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@ -193,6 +198,9 @@ private:
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}
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uint32_t last_log_ms;
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// true when user has disabled the GNSS
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bool gnss_is_disabled;
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};
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namespace AP {
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@ -17,6 +17,7 @@
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*/
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#include "AP_ExternalAHRS_backend.h"
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#include <AP_AHRS/AP_AHRS.h>
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#if HAL_EXTERNAL_AHRS_ENABLED
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@ -37,5 +38,10 @@ bool AP_ExternalAHRS_backend::option_is_set(AP_ExternalAHRS::OPTIONS option) con
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return frontend.option_is_set(option);
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}
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bool AP_ExternalAHRS_backend::in_fly_forward(void) const
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{
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return AP::ahrs().get_fly_forward();
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}
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#endif // HAL_EXTERNAL_AHRS_ENABLED
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@ -58,6 +58,18 @@ protected:
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frontend.set_default_sensors(sensors);
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}
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/*
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return true if the GNSS is disabled
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*/
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bool gnss_is_disabled(void) const {
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return frontend.gnss_is_disabled;
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}
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/*
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return true when we are in fixed wing flight
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*/
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bool in_fly_forward(void) const;
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private:
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AP_ExternalAHRS &frontend;
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};
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