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AP_GPS: remove check for GPS_RTK_AVAILABLE

This commit is contained in:
Lucas De Marchi 2015-11-03 11:46:46 -02:00 committed by Andrew Tridgell
parent c75c1d84d9
commit e31595c60c
6 changed files with 1 additions and 37 deletions
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17
libraries/AP_GPS/AP_GPS.cpp
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@ -54,7 +54,6 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("AUTO_SWITCH", 3, AP_GPS, _auto_switch, 1), AP_GROUPINFO("AUTO_SWITCH", 3, AP_GPS, _auto_switch, 1),
#if GPS_RTK_AVAILABLE
// @Param: MIN_DGPS // @Param: MIN_DGPS
// @DisplayName: Minimum Lock Type Accepted for DGPS // @DisplayName: Minimum Lock Type Accepted for DGPS
// @Description: Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode. // @Description: Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
@ -62,7 +61,6 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @User: Advanced // @User: Advanced
// @RebootRequired: True // @RebootRequired: True
AP_GROUPINFO("MIN_DGPS", 4, AP_GPS, _min_dgps, 100), AP_GROUPINFO("MIN_DGPS", 4, AP_GPS, _min_dgps, 100),
#endif
// @Param: SBAS_MODE // @Param: SBAS_MODE
// @DisplayName: SBAS Mode // @DisplayName: SBAS Mode
@ -87,23 +85,19 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Values: 0:send to first GPS, 1:send to 2nd GPS, 127:send to all // @Values: 0:send to first GPS, 1:send to 2nd GPS, 127:send to all
AP_GROUPINFO("INJECT_TO", 7, AP_GPS, _inject_to, GPS_RTK_INJECT_TO_ALL), AP_GROUPINFO("INJECT_TO", 7, AP_GPS, _inject_to, GPS_RTK_INJECT_TO_ALL),
#if GPS_RTK_AVAILABLE
// @Param: SBP_LOGMASK // @Param: SBP_LOGMASK
// @DisplayName: Swift Binary Protocol Logging Mask // @DisplayName: Swift Binary Protocol Logging Mask
// @Description: Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged // @Description: Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
// @Values: 0x0000:None, 0xFFFF:All, 0xFF00:External only // @Values: 0x0000:None, 0xFFFF:All, 0xFF00:External only
// @User: Advanced // @User: Advanced
AP_GROUPINFO("SBP_LOGMASK", 8, AP_GPS, _sbp_logmask, 0xFF00), AP_GROUPINFO("SBP_LOGMASK", 8, AP_GPS, _sbp_logmask, 0xFF00),
#endif
#if GPS_RTK_AVAILABLE
// @Param: RAW_DATA // @Param: RAW_DATA
// @DisplayName: Raw data logging // @DisplayName: Raw data logging
// @Description: Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T. // @Description: Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.
// @Values: 0:Disabled,1:log at 1MHz,5:log at 5MHz // @Values: 0:Disabled,1:log at 1MHz,5:log at 5MHz
// @RebootRequired: True // @RebootRequired: True
AP_GROUPINFO("RAW_DATA", 9, AP_GPS, _raw_data, 0), AP_GROUPINFO("RAW_DATA", 9, AP_GPS, _raw_data, 0),
#endif
// @Param: GNSS_MODE // @Param: GNSS_MODE
// @DisplayName: GNSS system configuration // @DisplayName: GNSS system configuration
@ -204,7 +198,6 @@ AP_GPS::detect_instance(uint8_t instance)
state[instance].status = NO_GPS; state[instance].status = NO_GPS;
state[instance].hdop = 9999; state[instance].hdop = 9999;
#if GPS_RTK_AVAILABLE
// by default the sbf/trimble gps outputs no data on its port, until configured. // by default the sbf/trimble gps outputs no data on its port, until configured.
if (_type[instance] == GPS_TYPE_SBF) { if (_type[instance] == GPS_TYPE_SBF) {
hal.console->print(" SBF "); hal.console->print(" SBF ");
@ -213,7 +206,6 @@ AP_GPS::detect_instance(uint8_t instance)
hal.console->print(" GSOF "); hal.console->print(" GSOF ");
new_gps = new AP_GPS_GSOF(*this, state[instance], _port[instance]); new_gps = new AP_GPS_GSOF(*this, state[instance], _port[instance]);
} }
#endif // GPS_RTK_AVAILABLE
// record the time when we started detection. This is used to try // record the time when we started detection. This is used to try
// to avoid initialising a uBlox as a NMEA GPS // to avoid initialising a uBlox as a NMEA GPS
@ -267,13 +259,11 @@ AP_GPS::detect_instance(uint8_t instance)
hal.console->print(" MTK "); hal.console->print(" MTK ");
new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]); new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]);
} }
#if GPS_RTK_AVAILABLE
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) { AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) {
hal.console->print(" SBP "); hal.console->print(" SBP ");
new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]); new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]);
} }
#endif // HAL_CPU_CLASS
#if !defined(GPS_SKIP_SIRF_NMEA) #if !defined(GPS_SKIP_SIRF_NMEA)
// save a bit of code space on a 1280 // save a bit of code space on a 1280
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&
@ -306,21 +296,16 @@ found_gps:
AP_GPS::GPS_Status AP_GPS::GPS_Status
AP_GPS::highest_supported_status(uint8_t instance) const AP_GPS::highest_supported_status(uint8_t instance) const
{ {
#if GPS_RTK_AVAILABLE
if (drivers[instance] != NULL) if (drivers[instance] != NULL)
return drivers[instance]->highest_supported_status(); return drivers[instance]->highest_supported_status();
#endif
return AP_GPS::GPS_OK_FIX_3D; return AP_GPS::GPS_OK_FIX_3D;
} }
AP_GPS::GPS_Status AP_GPS::GPS_Status
AP_GPS::highest_supported_status(void) const AP_GPS::highest_supported_status(void) const
{ {
#if GPS_RTK_AVAILABLE
if (drivers[primary_instance] != NULL) if (drivers[primary_instance] != NULL)
return drivers[primary_instance]->highest_supported_status(); return drivers[primary_instance]->highest_supported_status();
#endif
return AP_GPS::GPS_OK_FIX_3D; return AP_GPS::GPS_OK_FIX_3D;
} }
@ -568,7 +553,6 @@ AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
0); 0);
} }
#if GPS_RTK_AVAILABLE
void void
AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan) AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan)
{ {
@ -584,4 +568,3 @@ AP_GPS::send_mavlink_gps2_rtk(mavlink_channel_t chan)
drivers[1]->send_mavlink_gps_rtk(chan); drivers[1]->send_mavlink_gps_rtk(chan);
} }
} }
#endif

5
libraries/AP_GPS/AP_GPS.h
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@ -32,7 +32,6 @@
than 1 then redundent sensors may be available than 1 then redundent sensors may be available
*/ */
#define GPS_MAX_INSTANCES 2 #define GPS_MAX_INSTANCES 2
#define GPS_RTK_AVAILABLE 1
#define GPS_RTK_INJECT_TO_ALL 127 #define GPS_RTK_INJECT_TO_ALL 127
class DataFlash_Class; class DataFlash_Class;
@ -334,10 +333,8 @@ public:
void send_mavlink_gps_raw(mavlink_channel_t chan); void send_mavlink_gps_raw(mavlink_channel_t chan);
void send_mavlink_gps2_raw(mavlink_channel_t chan); void send_mavlink_gps2_raw(mavlink_channel_t chan);
#if GPS_RTK_AVAILABLE
void send_mavlink_gps_rtk(mavlink_channel_t chan); void send_mavlink_gps_rtk(mavlink_channel_t chan);
void send_mavlink_gps2_rtk(mavlink_channel_t chan); void send_mavlink_gps2_rtk(mavlink_channel_t chan);
#endif
private: private:
struct GPS_timing { struct GPS_timing {
@ -371,9 +368,7 @@ private:
struct MTK19_detect_state mtk19_detect_state; struct MTK19_detect_state mtk19_detect_state;
struct SIRF_detect_state sirf_detect_state; struct SIRF_detect_state sirf_detect_state;
struct NMEA_detect_state nmea_detect_state; struct NMEA_detect_state nmea_detect_state;
#if GPS_RTK_AVAILABLE
struct SBP_detect_state sbp_detect_state; struct SBP_detect_state sbp_detect_state;
#endif
} detect_state[GPS_MAX_INSTANCES]; } detect_state[GPS_MAX_INSTANCES];
struct { struct {

3
libraries/AP_GPS/AP_GPS_GSOF.cpp
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@ -23,8 +23,6 @@
#include "AP_GPS_GSOF.h" #include "AP_GPS_GSOF.h"
#include <DataFlash/DataFlash.h> #include <DataFlash/DataFlash.h>
#if GPS_RTK_AVAILABLE
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define gsof_DEBUGGING 0 #define gsof_DEBUGGING 0
@ -353,4 +351,3 @@ AP_GPS_GSOF::inject_data(uint8_t *data, uint8_t len)
Debug("GSOF: Not enough TXSPACE"); Debug("GSOF: Not enough TXSPACE");
} }
} }
#endif // GPS_RTK_AVAILABLE

5
libraries/AP_GPS/AP_GPS_SBF.cpp
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@ -23,8 +23,6 @@
#include "AP_GPS_SBF.h" #include "AP_GPS_SBF.h"
#include <DataFlash/DataFlash.h> #include <DataFlash/DataFlash.h>
#if GPS_RTK_AVAILABLE
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define SBF_DEBUGGING 0 #define SBF_DEBUGGING 0
@ -297,6 +295,3 @@ AP_GPS_SBF::inject_data(uint8_t *data, uint8_t len)
Debug("SBF: Not enough TXSPACE"); Debug("SBF: Not enough TXSPACE");
} }
} }
#endif // GPS_RTK_AVAILABLE

4
libraries/AP_GPS/AP_GPS_SBP.cpp
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@ -25,8 +25,6 @@
#include "AP_GPS_SBP.h" #include "AP_GPS_SBP.h"
#include <DataFlash/DataFlash.h> #include <DataFlash/DataFlash.h>
#if GPS_RTK_AVAILABLE
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define SBP_DEBUGGING 1 #define SBP_DEBUGGING 1
@ -518,5 +516,3 @@ AP_GPS_SBP::logging_log_raw_sbp(uint16_t msg_type,
#endif // SBP_HW_LOGGING #endif // SBP_HW_LOGGING
#endif // GPS_RTK_AVAILABLE

2
libraries/AP_GPS/GPS_Backend.h
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@ -39,7 +39,6 @@ public:
virtual void inject_data(uint8_t *data, uint8_t len) { return; } virtual void inject_data(uint8_t *data, uint8_t len) { return; }
#if GPS_RTK_AVAILABLE
// Highest status supported by this GPS. // Highest status supported by this GPS.
// Allows external system to identify type of receiver connected. // Allows external system to identify type of receiver connected.
virtual AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D; } virtual AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D; }
@ -48,7 +47,6 @@ public:
virtual void send_mavlink_gps_rtk(mavlink_channel_t chan) { return ; } virtual void send_mavlink_gps_rtk(mavlink_channel_t chan) { return ; }
virtual void send_mavlink_gps2_rtk(mavlink_channel_t chan) { return ; } virtual void send_mavlink_gps2_rtk(mavlink_channel_t chan) { return ; }
#endif
protected: protected:
AP_HAL::UARTDriver *port; ///< UART we are attached to AP_HAL::UARTDriver *port; ///< UART we are attached to