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GCS_MAVLINK: move AP_Airspeed to AP_Vehicle

This commit is contained in:
Josh Henderson 2021-10-04 23:19:46 -04:00 committed by Andrew Tridgell
parent c1abcfb7c4
commit fa9a852ef7
2 changed files with 23 additions and 0 deletions
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14
libraries/GCS_MAVLink/GCS.cpp
View File

@ -264,6 +264,20 @@ void GCS::update_sensor_status_flags()
} }
#endif #endif
// airspeed
#if AP_AIRSPEED_ENABLED
const AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed && airspeed->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
if (airspeed->use()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
if (airspeed->all_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
}
#endif
#if HAL_VISUALODOM_ENABLED #if HAL_VISUALODOM_ENABLED
const AP_VisualOdom *visual_odom = AP::visualodom(); const AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom && visual_odom->enabled()) { if (visual_odom && visual_odom->enabled()) {

9
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1827,6 +1827,7 @@ void GCS_MAVLINK::send_scaled_pressure_instance(uint8_t instance, void (*send_fn
} }
float press_diff = 0; // pascal float press_diff = 0; // pascal
#if AP_AIRSPEED_ENABLED
AP_Airspeed *airspeed = AP_Airspeed::get_singleton(); AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr && if (airspeed != nullptr &&
airspeed->enabled(instance)) { airspeed->enabled(instance)) {
@ -1841,6 +1842,7 @@ void GCS_MAVLINK::send_scaled_pressure_instance(uint8_t instance, void (*send_fn
} }
have_data = true; have_data = true;
} }
#endif
if (!have_data) { if (!have_data) {
return; return;
@ -2731,10 +2733,13 @@ void GCS_MAVLINK::send_accelcal_vehicle_position(uint32_t position)
float GCS_MAVLINK::vfr_hud_airspeed() const float GCS_MAVLINK::vfr_hud_airspeed() const
{ {
#if AP_AIRSPEED_ENABLED
AP_Airspeed *airspeed = AP_Airspeed::get_singleton(); AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr && airspeed->healthy()) { if (airspeed != nullptr && airspeed->healthy()) {
return airspeed->get_airspeed(); return airspeed->get_airspeed();
} }
#endif
// because most vehicles don't have airspeed sensors, we return a // because most vehicles don't have airspeed sensors, we return a
// different sort of speed estimate in the relevant field for // different sort of speed estimate in the relevant field for
// comparison's sake. // comparison's sake.
@ -3873,10 +3878,12 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro()
AP::baro().update_calibration(); AP::baro().update_calibration();
gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete"); gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
#if AP_AIRSPEED_ENABLED
AP_Airspeed *airspeed = AP_Airspeed::get_singleton(); AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr) { if (airspeed != nullptr) {
airspeed->calibrate(false); airspeed->calibrate(false);
} }
#endif
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
@ -5988,12 +5995,14 @@ void GCS_MAVLINK::send_high_latency2() const
int8_t GCS_MAVLINK::high_latency_air_temperature() const int8_t GCS_MAVLINK::high_latency_air_temperature() const
{ {
#if AP_AIRSPEED_ENABLED
// return units are degC // return units are degC
AP_Airspeed *airspeed = AP_Airspeed::get_singleton(); AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
float air_temperature; float air_temperature;
if (airspeed != nullptr && airspeed->enabled() && airspeed->get_temperature(air_temperature)) { if (airspeed != nullptr && airspeed->enabled() && airspeed->get_temperature(air_temperature)) {
return air_temperature; return air_temperature;
} }
#endif
return INT8_MIN; return INT8_MIN;
} }