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AP_NavEKF2: stop using GCS_MAVLINK.h in header files 

... by passing through a reference to a link object instead
This commit is contained in:
Peter Barker 2022-07-08 14:15:35 +10:00 committed by Andrew Tridgell
parent 74e651e5d7
commit c46a50f428
4 changed files with 9 additions and 8 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -1274,10 +1274,10 @@ void NavEKF2::getFilterGpsStatus(nav_gps_status &status) const
} }
// send an EKF_STATUS_REPORT message to GCS // send an EKF_STATUS_REPORT message to GCS
void NavEKF2::send_status_report(mavlink_channel_t chan) const void NavEKF2::send_status_report(GCS_MAVLINK &link) const
{ {
if (core) { if (core) {
core[primary].send_status_report(chan); core[primary].send_status_report(link);
} }
} }

3
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -25,7 +25,6 @@
#include <AP_Common/Location.h> #include <AP_Common/Location.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_NavEKF/AP_Nav_Common.h> #include <AP_NavEKF/AP_Nav_Common.h>
class NavEKF2_core; class NavEKF2_core;
@ -216,7 +215,7 @@ public:
void getFilterStatus(nav_filter_status &status) const; void getFilterStatus(nav_filter_status &status) const;
// send an EKF_STATUS_REPORT message to GCS // send an EKF_STATUS_REPORT message to GCS
void send_status_report(mavlink_channel_t chan) const; void send_status_report(class GCS_MAVLINK &link) const;
// provides the height limit to be observed by the control loops // provides the height limit to be observed by the control loops
// returns false if no height limiting is required // returns false if no height limiting is required

7
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -3,6 +3,7 @@
#include "AP_NavEKF2_core.h" #include "AP_NavEKF2_core.h"
#include <AP_DAL/AP_DAL.h> #include <AP_DAL/AP_DAL.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -492,8 +493,9 @@ void NavEKF2_core::getFilterGpsStatus(nav_gps_status &faults) const
faults.flags.bad_horiz_vel = gpsCheckStatus.bad_horiz_vel; // The GPS horizontal speed is excessive (check assumes the vehicle is static) faults.flags.bad_horiz_vel = gpsCheckStatus.bad_horiz_vel; // The GPS horizontal speed is excessive (check assumes the vehicle is static)
} }
#if HAL_GCS_ENABLED
// send an EKF_STATUS message to GCS // send an EKF_STATUS message to GCS
void NavEKF2_core::send_status_report(mavlink_channel_t chan) const void NavEKF2_core::send_status_report(GCS_MAVLINK &link) const
{ {
// prepare flags // prepare flags
uint16_t flags = 0; uint16_t flags = 0;
@ -550,8 +552,9 @@ void NavEKF2_core::send_status_report(mavlink_channel_t chan) const
} }
// send message // send message
mavlink_msg_ekf_status_report_send(chan, flags, velVar, posVar, hgtVar, mag_max, temp, tasVar); mavlink_msg_ekf_status_report_send(link.get_chan(), flags, velVar, posVar, hgtVar, mag_max, temp, tasVar);
} }
#endif // HAL_GCS_ENABLED
// report the reason for why the backend is refusing to initialise // report the reason for why the backend is refusing to initialise
const char *NavEKF2_core::prearm_failure_reason(void) const const char *NavEKF2_core::prearm_failure_reason(void) const

3
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -29,7 +29,6 @@
#include <AP_Math/vectorN.h> #include <AP_Math/vectorN.h>
#include <AP_NavEKF/AP_NavEKF_core_common.h> #include <AP_NavEKF/AP_NavEKF_core_common.h>
#include <AP_NavEKF/EKF_Buffer.h> #include <AP_NavEKF/EKF_Buffer.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_DAL/AP_DAL.h> #include <AP_DAL/AP_DAL.h>
#include "AP_NavEKF/EKFGSF_yaw.h" #include "AP_NavEKF/EKFGSF_yaw.h"
@ -247,7 +246,7 @@ public:
void getFilterStatus(nav_filter_status &status) const; void getFilterStatus(nav_filter_status &status) const;
// send an EKF_STATUS_REPORT message to GCS // send an EKF_STATUS_REPORT message to GCS
void send_status_report(mavlink_channel_t chan) const; void send_status_report(class GCS_MAVLINK &link) const;
// provides the height limit to be observed by the control loops // provides the height limit to be observed by the control loops
// returns false if no height limiting is required // returns false if no height limiting is required