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AP_ExternalAHRS: use AP_GPS_FixType for ExternalAHRS fix type

This commit is contained in:
Peter Barker 2024-09-28 17:27:44 +10:00 committed by Andrew Tridgell
parent efec7ccdc5
commit f66815b200
5 changed files with 9 additions and 8 deletions
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3
libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
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@ -26,6 +26,7 @@
#include <AP_Param/AP_Param.h>
#include <AP_Common/Location.h>
#include <AP_NavEKF/AP_Nav_Common.h>
#include <AP_GPS/AP_GPS_FixType.h>
class AP_ExternalAHRS_backend;
@ -139,7 +140,7 @@ public:
typedef struct {
uint16_t gps_week;
uint32_t ms_tow;
uint8_t fix_type;
AP_GPS_FixType fix_type;
uint8_t satellites_in_view;
float horizontal_pos_accuracy;
float vertical_pos_accuracy;

2
libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
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@ -341,7 +341,7 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
}
case MessageType::GNSS_EXTENDED_INFO: {
CHECK_SIZE(u.gnss_extended_info);
gps_data.fix_type = u.gnss_extended_info.fix_type+1;
gps_data.fix_type = AP_GPS_FixType(u.gnss_extended_info.fix_type+1);
gnss_data.spoof_status = u.gnss_extended_info.spoofing_status;
break;
}

4
libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp
View File

@ -169,7 +169,7 @@ void AP_ExternalAHRS_MicroStrain5::post_filter() const
AP_ExternalAHRS::gps_data_message_t gps {
gps_week: filter_data.week,
ms_tow: filter_data.tow_ms,
fix_type: (uint8_t) gnss_data[gnss_instance].fix_type,
fix_type: AP_GPS_FixType(gnss_data[gnss_instance].fix_type),
satellites_in_view: gnss_data[gnss_instance].satellites,
horizontal_pos_accuracy: gnss_data[gnss_instance].horizontal_position_accuracy,
@ -188,7 +188,7 @@ void AP_ExternalAHRS_MicroStrain5::post_filter() const
ned_vel_down: filter_data.ned_velocity_down,
};
if (gps.fix_type >= 3 && !state.have_origin) {
if (gps.fix_type >= AP_GPS_FixType::FIX_3D && !state.have_origin) {
WITH_SEMAPHORE(state.sem);
state.origin = Location{int32_t(filter_data.lat),
int32_t(filter_data.lon),

4
libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp
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@ -210,7 +210,7 @@ void AP_ExternalAHRS_MicroStrain7::post_filter() const
AP_ExternalAHRS::gps_data_message_t gps {
gps_week: filter_data.week,
ms_tow: filter_data.tow_ms,
fix_type: (uint8_t) gnss_data[instance].fix_type,
fix_type: AP_GPS_FixType(gnss_data[instance].fix_type),
satellites_in_view: gnss_data[instance].satellites,
horizontal_pos_accuracy: gnss_data[instance].horizontal_position_accuracy,
@ -230,7 +230,7 @@ void AP_ExternalAHRS_MicroStrain7::post_filter() const
};
// *INDENT-ON*
if (gps.fix_type >= 3 && !state.have_origin) {
if (gps.fix_type >= AP_GPS_FixType::FIX_3D && !state.have_origin) {
WITH_SEMAPHORE(state.sem);
state.origin = Location{int32_t(gnss_data[instance].lat),
int32_t(gnss_data[instance].lon),

4
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
View File

@ -683,7 +683,7 @@ void AP_ExternalAHRS_VectorNav::process_ins_gnss_packet(const uint8_t *b) {
// get ToW in milliseconds
gps.gps_week = pkt.timeGps / (AP_MSEC_PER_WEEK * 1000000ULL);
gps.ms_tow = (pkt.timeGps / 1000000ULL) % (60 * 60 * 24 * 7 * 1000ULL);
gps.fix_type = pkt.fix1;
gps.fix_type = AP_GPS_FixType(pkt.fix1);
gps.satellites_in_view = pkt.numSats1;
gps.horizontal_pos_accuracy = pkt.posU1[0];
@ -701,7 +701,7 @@ void AP_ExternalAHRS_VectorNav::process_ins_gnss_packet(const uint8_t *b) {
gps.ned_vel_east = pkt.velNed1[1];
gps.ned_vel_down = pkt.velNed1[2];
if (!state.have_origin && gps.fix_type >= 3) {
if (!state.have_origin && gps.fix_type >= AP_GPS_FixType::FIX_3D) {
WITH_SEMAPHORE(state.sem);
state.origin = Location{int32_t(pkt.posLla1[0] * 1.0e7), int32_t(pkt.posLla1[1] * 1.0e7),
int32_t(pkt.posLla1[2] * 1.0e2), Location::AltFrame::ABSOLUTE};