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GCS_MAVLink: tidy use of GPS mavlink defines

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Peter Barker 2023-10-25 15:23:59 +11:00 committed by Peter Barker
parent 1c7eebec3a
commit fbbadecfe3
1 changed files with 12 additions and 4 deletions
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16
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3069,10 +3069,14 @@ float GCS_MAVLINK::vfr_hud_airspeed() const
}
#endif
#if AP_GPS_ENABLED
// because most vehicles don't have airspeed sensors, we return a
// different sort of speed estimate in the relevant field for
// comparison's sake.
return AP::gps().ground_speed();
#endif
return 0.0;
}
float GCS_MAVLINK::vfr_hud_climbrate() const
@ -3977,12 +3981,14 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
break;
#endif
#if AP_GPS_ENABLED
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
case MAVLINK_MSG_ID_GPS_INPUT:
case MAVLINK_MSG_ID_HIL_GPS:
case MAVLINK_MSG_ID_GPS_INJECT_DATA:
AP::gps().handle_msg(msg);
break;
#endif
case MAVLINK_MSG_ID_STATUSTEXT:
handle_statustext(msg);
@ -5760,6 +5766,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time();
break;
#if AP_GPS_ENABLED
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
AP::gps().send_mavlink_gps_raw(chan);
@ -5768,18 +5775,19 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
CHECK_PAYLOAD_SIZE(GPS_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 0);
break;
case MSG_GPS2_RAW:
#if GPS_MAX_RECEIVERS > 1
case MSG_GPS2_RAW:
CHECK_PAYLOAD_SIZE(GPS2_RAW);
AP::gps().send_mavlink_gps2_raw(chan);
#endif
break;
case MSG_GPS2_RTK:
#endif
#if GPS_MAX_RECEIVERS > 1
case MSG_GPS2_RTK:
CHECK_PAYLOAD_SIZE(GPS2_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 1);
#endif
break;
#endif
#endif // AP_GPS_ENABLED
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
send_local_position();