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AP_GPS: change GPS_AUTO_SWITCH #define list to enum class

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enumeration entry had to change to NONE to avoid name conflict with DISABLED
This commit is contained in:
Tom Pittenger 2020-06-23 19:07:35 -07:00 committed by Peter Barker
parent ff007dd017
commit 8f6e9caf93
2 changed files with 12 additions and 5 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
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@ -101,7 +101,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Description: Automatic switchover to GPS reporting best lock
// @Values: 0:Disabled,1:UseBest,2:Blend,3:UseSecond
// @User: Advanced
AP_GROUPINFO("AUTO_SWITCH", 3, AP_GPS, _auto_switch, 1),
AP_GROUPINFO("AUTO_SWITCH", 3, AP_GPS, _auto_switch, (int8_t)GPSAutoSwitch::USE_BEST),
#endif
// @Param: MIN_DGPS
@ -276,7 +276,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
#if defined(GPS_BLENDED_INSTANCE)
// @Param: BLEND_MASK
// @DisplayName: Multi GPS Blending Mask
// @Description: Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2
// @Description: Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
// @Bitmask: 0:Horiz Pos,1:Vert Pos,2:Speed
// @User: Advanced
AP_GROUPINFO("BLEND_MASK", 20, AP_GPS, _blend_mask, 5),
@ -837,7 +837,7 @@ void AP_GPS::update_primary(void)
{
#if defined(GPS_BLENDED_INSTANCE)
// if blending is requested, attempt to calculate weighting for each GPS
if (_auto_switch == 2) {
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::BLEND) {
_output_is_blended = calc_blend_weights();
// adjust blend health counter
if (!_output_is_blended) {
@ -862,13 +862,13 @@ void AP_GPS::update_primary(void)
return;
}
if (_auto_switch == 0) {
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::NONE) {
// AUTO_SWITCH is 0 so no switching of GPSs, always use first instance
primary_instance = 0;
return;
}
if (_auto_switch == 3) {
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::USE_SECOND) {
// always select the second GPS instance
primary_instance = 1;
return;

7
libraries/AP_GPS/AP_GPS.h
View File

@ -632,6 +632,13 @@ private:
GPS_AUTO_CONFIG_ENABLE = 1
};
enum class GPSAutoSwitch {
NONE = 0,
USE_BEST = 1,
BLEND = 2,
USE_SECOND = 3,
};
// used for flight testing with GPS loss
bool _force_disable_gps;