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GCS_MAVLink: add specific defines for sending of GPS mavlink messages

This commit is contained in:
Peter Barker 2024-11-10 18:24:49 +11:00 committed by Andrew Tridgell
parent 199074ce34
commit d4e15b1ae7
1 changed files with 19 additions and 11 deletions
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30
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1030,13 +1030,17 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_SCALED_PRESSURE, MSG_SCALED_PRESSURE},
{ MAVLINK_MSG_ID_SCALED_PRESSURE2, MSG_SCALED_PRESSURE2},
{ MAVLINK_MSG_ID_SCALED_PRESSURE3, MSG_SCALED_PRESSURE3},
#if AP_GPS_ENABLED
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
{ MAVLINK_MSG_ID_GPS_RAW_INT, MSG_GPS_RAW},
{ MAVLINK_MSG_ID_GPS_RTK, MSG_GPS_RTK},
#if GPS_MAX_RECEIVERS > 1
{ MAVLINK_MSG_ID_GPS2_RAW, MSG_GPS2_RAW},
{ MAVLINK_MSG_ID_GPS2_RTK, MSG_GPS2_RTK},
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
{ MAVLINK_MSG_ID_GPS_RTK, MSG_GPS_RTK},
#endif
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
{ MAVLINK_MSG_ID_GPS2_RAW, MSG_GPS2_RAW},
#endif
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
{ MAVLINK_MSG_ID_GPS2_RTK, MSG_GPS2_RTK},
#endif
{ MAVLINK_MSG_ID_SYSTEM_TIME, MSG_SYSTEM_TIME},
{ MAVLINK_MSG_ID_RC_CHANNELS_SCALED, MSG_SERVO_OUT},
@ -6237,28 +6241,32 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time();
break;
#if AP_GPS_ENABLED
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
AP::gps().send_mavlink_gps_raw(chan);
break;
#endif // AP_GPS_GPS_RAW_INT_SENDING_ENABLED
#if AP_GPS_GPS_RTK_SENDING_ENABLED
case MSG_GPS_RTK:
CHECK_PAYLOAD_SIZE(GPS_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 0);
break;
#if GPS_MAX_RECEIVERS > 1
#endif // AP_GPS_GPS_RTK_SENDING_ENABLED
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
case MSG_GPS2_RAW:
CHECK_PAYLOAD_SIZE(GPS2_RAW);
AP::gps().send_mavlink_gps2_raw(chan);
break;
#endif
#if GPS_MAX_RECEIVERS > 1
#endif // AP_GPS_GPS2_RAW_SENDING_ENABLED
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
case MSG_GPS2_RTK:
CHECK_PAYLOAD_SIZE(GPS2_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 1);
break;
#endif
#endif // AP_GPS_ENABLED
#endif // AP_GPS_GPS2_RTK_SENDING_ENABLED
#if AP_AHRS_ENABLED
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);