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Tools: allow forwards/backwards for DroneCAN type autoconfig 

ArduPilot configures a connected DroneCAN GPS based on its GPS Type.

Given parameter name changes, ArduPilot must be able to configure both new and old AP_Periphs, and new AP_Periphs have to cope with being configured by old ArduPilots.
This commit is contained in:
Peter Barker 2024-03-15 22:39:21 +11:00 committed by Peter Barker
parent 2a010623b2
commit 7e1a3ae4dc
2 changed files with 17 additions and 0 deletions
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1
Tools/AP_Periph/AP_Periph.cpp
View File

@ -142,6 +142,7 @@ void AP_Periph_FW::init()
#endif
#ifdef HAL_PERIPH_ENABLE_GPS
gps.set_default_type_for_gps1(HAL_GPS1_TYPE_DEFAULT);
if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && g.gps_port >= 0) {
serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
#if HAL_LOGGING_ENABLED

16
Tools/AP_Periph/can.cpp
View File

@ -223,6 +223,11 @@ void AP_Periph_FW::handle_get_node_info(CanardInstance* canard_instance,
total_size);
}
// compatability code added Mar 2024 for 4.6:
#ifndef AP_PERIPH_GPS_TYPE_COMPATABILITY_ENABLED
#define AP_PERIPH_GPS_TYPE_COMPATABILITY_ENABLED 1
#endif
/*
handle parameter GetSet request
*/
@ -245,7 +250,18 @@ void AP_Periph_FW::handle_param_getset(CanardInstance* canard_instance, CanardRx
vp = nullptr;
} else if (req.name.len != 0 && req.name.len <= AP_MAX_NAME_SIZE) {
memcpy((char *)pkt.name.data, (char *)req.name.data, req.name.len);
#if AP_PERIPH_GPS_TYPE_COMPATABILITY_ENABLED
// cope with older versions of ArduPilot attempting to
// auto-configure AP_Periph using "GPS_TYPE" by
// auto-converting to "GPS1_TYPE":
if (strncmp((char*)req.name.data, "GPS_TYPE", req.name.len) == 0) {
vp = AP_Param::find("GPS1_TYPE", &ptype);
} else {
vp = AP_Param::find((char *)pkt.name.data, &ptype);
}
#else
vp = AP_Param::find((char *)pkt.name.data, &ptype);
#endif
} else {
AP_Param::ParamToken token {};
vp = AP_Param::find_by_index(req.index, &ptype, &token);