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AP_GPS: rename AP_UAVCAN to AP_DroneCAN

This commit is contained in:
Andrew Tridgell 2023-04-07 10:18:01 +10:00
parent 7e74fde24c
commit 8829f54d89
3 changed files with 66 additions and 66 deletions
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2
libraries/AP_GPS/AP_GPS.cpp
View File

@ -43,7 +43,7 @@
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
#include "AP_GPS_UAVCAN.h"
#endif

96
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -22,7 +22,7 @@
#include "AP_GPS_UAVCAN.h"
#include <AP_CANManager/AP_CANManager.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h>
@ -65,9 +65,9 @@ AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_GPS::GP
interim_state(_state),
role(_role)
{
param_int_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_get_set_response_int, bool, AP_UAVCAN*, const uint8_t, const char*, int32_t &);
param_float_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_get_set_response_float, bool, AP_UAVCAN*, const uint8_t, const char*, float &);
param_save_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_save_response, void, AP_UAVCAN*, const uint8_t, bool);
param_int_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_get_set_response_int, bool, AP_DroneCAN*, const uint8_t, const char*, int32_t &);
param_float_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_get_set_response_float, bool, AP_DroneCAN*, const uint8_t, const char*, float &);
param_save_cb = FUNCTOR_BIND_MEMBER(&AP_GPS_UAVCAN::handle_param_save_response, void, AP_DroneCAN*, const uint8_t, bool);
}
AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
@ -83,33 +83,33 @@ AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
#endif
}
void AP_GPS_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
void AP_GPS_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_uavcan == nullptr) {
if (ap_dronecan == nullptr) {
return;
}
if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_fix2_msg_trampoline, ap_uavcan->get_driver_index()) == nullptr) {
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_fix2_msg_trampoline, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("status_sub");
}
if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_aux_msg_trampoline, ap_uavcan->get_driver_index()) == nullptr) {
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_aux_msg_trampoline, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("status_sub");
}
if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_heading_msg_trampoline, ap_uavcan->get_driver_index()) == nullptr) {
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_heading_msg_trampoline, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("status_sub");
}
if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_status_msg_trampoline, ap_uavcan->get_driver_index()) == nullptr) {
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_status_msg_trampoline, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("status_sub");
}
#if GPS_MOVING_BASELINE
if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_moving_baseline_msg_trampoline, ap_uavcan->get_driver_index()) == nullptr) {
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_moving_baseline_msg_trampoline, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("moving_baseline_sub");
}
if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_relposheading_msg_trampoline, ap_uavcan->get_driver_index()) == nullptr) {
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_relposheading_msg_trampoline, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("relposheading_sub");
}
#endif
@ -122,7 +122,7 @@ AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
AP_GPS_UAVCAN* backend = nullptr;
bool bad_override_config = false;
for (int8_t i = GPS_MAX_RECEIVERS - 1; i >= 0; i--) {
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) {
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) {
if (_gps._override_node_id[_state.instance] != 0 &&
_gps._override_node_id[_state.instance] != _detected_modules[i].node_id) {
continue; // This device doesn't match the correct node
@ -182,7 +182,7 @@ AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
LOG_TAG,
"Failed to register UAVCAN GPS Node %d on Bus %d\n",
_detected_modules[found_match].node_id,
_detected_modules[found_match].ap_uavcan->get_driver_index());
_detected_modules[found_match].ap_dronecan->get_driver_index());
} else {
_detected_modules[found_match].driver = backend;
backend->_detected_module = found_match;
@ -190,9 +190,9 @@ AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
LOG_TAG,
"Registered UAVCAN GPS Node %d on Bus %d as instance %d\n",
_detected_modules[found_match].node_id,
_detected_modules[found_match].ap_uavcan->get_driver_index(),
_detected_modules[found_match].ap_dronecan->get_driver_index(),
_state.instance);
snprintf(backend->_name, ARRAY_SIZE(backend->_name), "UAVCAN%u-%u", _detected_modules[found_match].ap_uavcan->get_driver_index()+1, _detected_modules[found_match].node_id);
snprintf(backend->_name, ARRAY_SIZE(backend->_name), "UAVCAN%u-%u", _detected_modules[found_match].ap_dronecan->get_driver_index()+1, _detected_modules[found_match].node_id);
_detected_modules[found_match].instance = _state.instance;
for (uint8_t i=0; i < GPS_MAX_RECEIVERS; i++) {
if (_detected_modules[found_match].node_id == AP::gps()._node_id[i]) {
@ -210,7 +210,7 @@ AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
if (backend->role == AP_GPS::GPS_ROLE_MB_BASE) {
backend->rtcm3_parser = new RTCM3_Parser;
if (backend->rtcm3_parser == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UAVCAN%u-%u: failed RTCMv3 parser allocation", _detected_modules[found_match].ap_uavcan->get_driver_index()+1, _detected_modules[found_match].node_id);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UAVCAN%u-%u: failed RTCMv3 parser allocation", _detected_modules[found_match].ap_dronecan->get_driver_index()+1, _detected_modules[found_match].node_id);
}
}
#endif // GPS_MOVING_BASELINE
@ -254,15 +254,15 @@ bool AP_GPS_UAVCAN::backends_healthy(char failure_msg[], uint16_t failure_msg_le
return true;
}
AP_GPS_UAVCAN* AP_GPS_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id)
AP_GPS_UAVCAN* AP_GPS_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
{
if (ap_uavcan == nullptr) {
if (ap_dronecan == nullptr) {
return nullptr;
}
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
if (_detected_modules[i].driver != nullptr &&
_detected_modules[i].ap_uavcan == ap_uavcan &&
_detected_modules[i].ap_dronecan == ap_dronecan &&
_detected_modules[i].node_id == node_id) {
return _detected_modules[i].driver;
}
@ -271,7 +271,7 @@ AP_GPS_UAVCAN* AP_GPS_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t n
bool already_detected = false;
// Check if there's an empty spot for possible registeration
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
if (_detected_modules[i].ap_uavcan == ap_uavcan && _detected_modules[i].node_id == node_id) {
if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) {
// Already Detected
already_detected = true;
break;
@ -279,8 +279,8 @@ AP_GPS_UAVCAN* AP_GPS_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t n
}
if (!already_detected) {
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
if (_detected_modules[i].ap_uavcan == nullptr) {
_detected_modules[i].ap_uavcan = ap_uavcan;
if (_detected_modules[i].ap_dronecan == nullptr) {
_detected_modules[i].ap_dronecan = ap_dronecan;
_detected_modules[i].node_id = node_id;
// Just set the Node ID in order of appearance
// This will be used to set select ids
@ -593,41 +593,41 @@ void AP_GPS_UAVCAN::clear_RTCMV3(void)
#endif // GPS_MOVING_BASELINE
void AP_GPS_UAVCAN::handle_fix2_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Fix2& msg)
void AP_GPS_UAVCAN::handle_fix2_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Fix2& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_fix2_msg(msg, transfer.timestamp_usec);
}
}
void AP_GPS_UAVCAN::handle_aux_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Auxiliary& msg)
void AP_GPS_UAVCAN::handle_aux_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Auxiliary& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_aux_msg(msg);
}
}
void AP_GPS_UAVCAN::handle_heading_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_gnss_Heading& msg)
void AP_GPS_UAVCAN::handle_heading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Heading& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_heading_msg(msg);
}
}
void AP_GPS_UAVCAN::handle_status_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_gnss_Status& msg)
void AP_GPS_UAVCAN::handle_status_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Status& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_status_msg(msg);
}
@ -635,20 +635,20 @@ void AP_GPS_UAVCAN::handle_status_msg_trampoline(AP_UAVCAN *ap_uavcan, const Can
#if GPS_MOVING_BASELINE
// Moving Baseline msg trampoline
void AP_GPS_UAVCAN::handle_moving_baseline_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_gnss_MovingBaselineData& msg)
void AP_GPS_UAVCAN::handle_moving_baseline_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_MovingBaselineData& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_moving_baseline_msg(msg, transfer.source_node_id);
}
}
// RelPosHeading msg trampoline
void AP_GPS_UAVCAN::handle_relposheading_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_gnss_RelPosHeading& msg)
void AP_GPS_UAVCAN::handle_relposheading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_RelPosHeading& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id);
AP_GPS_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_relposheading_msg(msg, transfer.source_node_id);
}
@ -657,26 +657,26 @@ void AP_GPS_UAVCAN::handle_relposheading_msg_trampoline(AP_UAVCAN *ap_uavcan, co
bool AP_GPS_UAVCAN::do_config()
{
AP_UAVCAN *ap_uavcan = _detected_modules[_detected_module].ap_uavcan;
if (ap_uavcan == nullptr) {
AP_DroneCAN *ap_dronecan = _detected_modules[_detected_module].ap_dronecan;
if (ap_dronecan == nullptr) {
return false;
}
uint8_t node_id = _detected_modules[_detected_module].node_id;
switch(cfg_step) {
case STEP_SET_TYPE:
ap_uavcan->get_parameter_on_node(node_id, "GPS_TYPE", &param_int_cb);
ap_dronecan->get_parameter_on_node(node_id, "GPS_TYPE", &param_int_cb);
break;
case STEP_SET_MB_CAN_TX:
if (role != AP_GPS::GPS_Role::GPS_ROLE_NORMAL) {
ap_uavcan->get_parameter_on_node(node_id, "GPS_MB_ONLY_PORT", &param_int_cb);
ap_dronecan->get_parameter_on_node(node_id, "GPS_MB_ONLY_PORT", &param_int_cb);
} else {
cfg_step++;
}
break;
case STEP_SAVE_AND_REBOOT:
if (requires_save_and_reboot) {
ap_uavcan->save_parameters_on_node(node_id, &param_save_cb);
ap_dronecan->save_parameters_on_node(node_id, &param_save_cb);
} else {
cfg_step++;
}
@ -765,15 +765,15 @@ void AP_GPS_UAVCAN::inject_data(const uint8_t *data, uint16_t len)
// send the data as broadcast on all UAVCAN devive ports and we
// don't want to send duplicates
if (_detected_module == 0 ||
_detected_modules[_detected_module].ap_uavcan != _detected_modules[0].ap_uavcan) {
_detected_modules[_detected_module].ap_uavcan->send_RTCMStream(data, len);
_detected_modules[_detected_module].ap_dronecan != _detected_modules[0].ap_dronecan) {
_detected_modules[_detected_module].ap_dronecan->send_RTCMStream(data, len);
}
}
/*
handle param get/set response
*/
bool AP_GPS_UAVCAN::handle_param_get_set_response_int(AP_UAVCAN* ap_uavcan, uint8_t node_id, const char* name, int32_t &value)
bool AP_GPS_UAVCAN::handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan, uint8_t node_id, const char* name, int32_t &value)
{
Debug("AP_GPS_UAVCAN: param set/get response from %d %s %ld\n", node_id, name, value);
if (strcmp(name, "GPS_TYPE") == 0 && cfg_step == STEP_SET_TYPE) {
@ -810,13 +810,13 @@ bool AP_GPS_UAVCAN::handle_param_get_set_response_int(AP_UAVCAN* ap_uavcan, uint
return false;
}
bool AP_GPS_UAVCAN::handle_param_get_set_response_float(AP_UAVCAN* ap_uavcan, uint8_t node_id, const char* name, float &value)
bool AP_GPS_UAVCAN::handle_param_get_set_response_float(AP_DroneCAN* ap_dronecan, uint8_t node_id, const char* name, float &value)
{
Debug("AP_GPS_UAVCAN: param set/get response from %d %s %f\n", node_id, name, value);
return false;
}
void AP_GPS_UAVCAN::handle_param_save_response(AP_UAVCAN* ap_uavcan, const uint8_t node_id, bool success)
void AP_GPS_UAVCAN::handle_param_save_response(AP_DroneCAN* ap_dronecan, const uint8_t node_id, bool success)
{
Debug("AP_GPS_UAVCAN: param save response from %d %s\n", node_id, success ? "success" : "failure");
@ -830,14 +830,14 @@ void AP_GPS_UAVCAN::handle_param_save_response(AP_UAVCAN* ap_uavcan, const uint8
// Also send reboot command
// this is ok as we are sending from UAVCAN thread context
Debug("AP_GPS_UAVCAN: sending reboot command %d\n", node_id);
ap_uavcan->send_reboot_request(node_id);
ap_dronecan->send_reboot_request(node_id);
}
#if AP_DRONECAN_SEND_GPS
bool AP_GPS_UAVCAN::instance_exists(const AP_UAVCAN* ap_uavcan)
bool AP_GPS_UAVCAN::instance_exists(const AP_DroneCAN* ap_dronecan)
{
for (uint8_t i=0; i<ARRAY_SIZE(_detected_modules); i++) {
if (ap_uavcan == _detected_modules[i].ap_uavcan) {
if (ap_dronecan == _detected_modules[i].ap_dronecan) {
return true;
}
}

34
libraries/AP_GPS/AP_GPS_UAVCAN.h
View File

@ -24,7 +24,7 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#include "RTCM3_Parser.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
class AP_GPS_UAVCAN : public AP_GPS_Backend {
public:
@ -41,17 +41,17 @@ public:
const char *name() const override { return _name; }
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static AP_GPS_Backend* probe(AP_GPS &_gps, AP_GPS::GPS_State &_state);
static void handle_fix2_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Fix2& msg);
static void handle_fix2_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Fix2& msg);
static void handle_aux_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Auxiliary& msg);
static void handle_heading_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_gnss_Heading& msg);
static void handle_status_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_gnss_Status& msg);
static void handle_aux_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Auxiliary& msg);
static void handle_heading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Heading& msg);
static void handle_status_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Status& msg);
#if GPS_MOVING_BASELINE
static void handle_moving_baseline_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_gnss_MovingBaselineData& msg);
static void handle_relposheading_msg_trampoline(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_gnss_RelPosHeading& msg);
static void handle_moving_baseline_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_MovingBaselineData& msg);
static void handle_relposheading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_RelPosHeading& msg);
#endif
static bool backends_healthy(char failure_msg[], uint16_t failure_msg_len);
void inject_data(const uint8_t *data, uint16_t len) override;
@ -64,7 +64,7 @@ public:
#endif
#if AP_DRONECAN_SEND_GPS
static bool instance_exists(const AP_UAVCAN* ap_uavcan);
static bool instance_exists(const AP_DroneCAN* ap_dronecan);
#endif
private:
@ -95,7 +95,7 @@ private:
static bool take_registry();
static void give_registry();
static AP_GPS_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id);
static AP_GPS_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
bool _new_data;
AP_GPS::GPS_State interim_state;
@ -116,7 +116,7 @@ private:
// Module Detection Registry
static struct DetectedModules {
AP_UAVCAN* ap_uavcan;
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
uint8_t instance;
AP_GPS_UAVCAN* driver;
@ -131,12 +131,12 @@ private:
// the role set from GPS_TYPE
AP_GPS::GPS_Role role;
FUNCTOR_DECLARE(param_int_cb, bool, AP_UAVCAN*, const uint8_t, const char*, int32_t &);
FUNCTOR_DECLARE(param_float_cb, bool, AP_UAVCAN*, const uint8_t, const char*, float &);
FUNCTOR_DECLARE(param_save_cb, void, AP_UAVCAN*, const uint8_t, bool);
FUNCTOR_DECLARE(param_int_cb, bool, AP_DroneCAN*, const uint8_t, const char*, int32_t &);
FUNCTOR_DECLARE(param_float_cb, bool, AP_DroneCAN*, const uint8_t, const char*, float &);
FUNCTOR_DECLARE(param_save_cb, void, AP_DroneCAN*, const uint8_t, bool);
bool handle_param_get_set_response_int(AP_UAVCAN* ap_uavcan, const uint8_t node_id, const char* name, int32_t &value);
bool handle_param_get_set_response_float(AP_UAVCAN* ap_uavcan, const uint8_t node_id, const char* name, float &value);
void handle_param_save_response(AP_UAVCAN* ap_uavcan, const uint8_t node_id, bool success);
bool handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan, const uint8_t node_id, const char* name, int32_t &value);
bool handle_param_get_set_response_float(AP_DroneCAN* ap_dronecan, const uint8_t node_id, const char* name, float &value);
void handle_param_save_response(AP_DroneCAN* ap_dronecan, const uint8_t node_id, bool success);
};
#endif