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https://github.com/ArduPilot/ardupilot
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AP_GPS: Remove unneeded field limitations
Saves ~1100 bytes of flash
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@ -143,10 +143,10 @@ public:
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float speed_accuracy; ///< 3D velocity RMS accuracy estimate in m/s
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float speed_accuracy; ///< 3D velocity RMS accuracy estimate in m/s
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float horizontal_accuracy; ///< horizontal RMS accuracy estimate in m
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float horizontal_accuracy; ///< horizontal RMS accuracy estimate in m
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float vertical_accuracy; ///< vertical RMS accuracy estimate in m
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float vertical_accuracy; ///< vertical RMS accuracy estimate in m
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bool have_vertical_velocity:1; ///< does GPS give vertical velocity? Set to true only once available.
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bool have_vertical_velocity; ///< does GPS give vertical velocity? Set to true only once available.
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bool have_speed_accuracy:1; ///< does GPS give speed accuracy? Set to true only once available.
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bool have_speed_accuracy; ///< does GPS give speed accuracy? Set to true only once available.
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bool have_horizontal_accuracy:1; ///< does GPS give horizontal position accuracy? Set to true only once available.
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bool have_horizontal_accuracy; ///< does GPS give horizontal position accuracy? Set to true only once available.
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bool have_vertical_accuracy:1; ///< does GPS give vertical position accuracy? Set to true only once available.
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bool have_vertical_accuracy; ///< does GPS give vertical position accuracy? Set to true only once available.
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uint32_t last_gps_time_ms; ///< the system time we got the last GPS timestamp, milliseconds
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uint32_t last_gps_time_ms; ///< the system time we got the last GPS timestamp, milliseconds
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// all the following fields must only all be filled by RTK capable backend drivers
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// all the following fields must only all be filled by RTK capable backend drivers
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@ -467,13 +467,13 @@ private:
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AP_HAL::UARTDriver *_port[GPS_MAX_RECEIVERS];
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AP_HAL::UARTDriver *_port[GPS_MAX_RECEIVERS];
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/// primary GPS instance
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/// primary GPS instance
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uint8_t primary_instance:2;
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uint8_t primary_instance;
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/// number of GPS instances present
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/// number of GPS instances present
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uint8_t num_instances:2;
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uint8_t num_instances;
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// which ports are locked
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// which ports are locked
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uint8_t locked_ports:2;
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uint8_t locked_ports;
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// state of auto-detection process, per instance
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// state of auto-detection process, per instance
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struct detect_state {
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struct detect_state {
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@ -515,8 +515,8 @@ private:
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in a RTCM data block
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in a RTCM data block
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*/
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*/
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struct rtcm_buffer {
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struct rtcm_buffer {
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uint8_t fragments_received:4;
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uint8_t fragments_received;
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uint8_t sequence:5;
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uint8_t sequence;
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uint8_t fragment_count;
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uint8_t fragment_count;
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uint16_t total_length;
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uint16_t total_length;
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uint8_t buffer[MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN*4];
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uint8_t buffer[MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN*4];
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