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AP_WindVane: add and use AP_WINDVANE_*_ENABLED defines

This commit is contained in:
Peter Barker 2023-12-08 13:07:31 +11:00 committed by Peter Barker
parent 75217ec1e6
commit ff86e2dda8
19 changed files with 180 additions and 12 deletions
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26
libraries/AP_WindVane/AP_WindVane.cpp
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@ -13,6 +13,10 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_config.h"
#if AP_WINDVANE_ENABLED
#include "AP_WindVane.h"
#include "AP_WindVane_Home.h"
@ -202,36 +206,46 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager)
case WindVaneType::WINDVANE_NONE:
// WindVane disabled
return;
#if AP_WINDVANE_HOME_ENABLED
case WindVaneType::WINDVANE_HOME_HEADING:
case WindVaneType::WINDVANE_PWM_PIN:
_direction_driver = new AP_WindVane_Home(*this);
break;
#endif
#if AP_WINDVANE_ANALOG_ENABLED
case WindVaneType::WINDVANE_ANALOG_PIN:
_direction_driver = new AP_WindVane_Analog(*this);
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#endif
#if AP_WINDVANE_SIM_ENABLED
case WindVaneType::WINDVANE_SITL_TRUE:
case WindVaneType::WINDVANE_SITL_APPARENT:
_direction_driver = new AP_WindVane_SITL(*this);
break;
#endif
#if AP_WINDVANE_NMEA_ENABLED
case WindVaneType::WINDVANE_NMEA:
_direction_driver = new AP_WindVane_NMEA(*this);
_direction_driver->init(serial_manager);
break;
#endif
}
// wind speed
switch (_speed_sensor_type) {
case Speed_type::WINDSPEED_NONE:
break;
#if AP_WINDVANE_AIRSPEED_ENABLED
case Speed_type::WINDSPEED_AIRSPEED:
_speed_driver = new AP_WindVane_Airspeed(*this);
break;
#endif
#if AP_WINDVANE_MODERNDEVICE_ENABLED
case Speed_type::WINDVANE_WIND_SENSOR_REV_P:
_speed_driver = new AP_WindVane_ModernDevice(*this);
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#endif
#if AP_WINDVANE_SIM_ENABLED
case Speed_type::WINDSPEED_SITL_TRUE:
case Speed_type::WINDSPEED_SITL_APPARENT:
// single driver does both speed and direction
@ -241,7 +255,8 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager)
_speed_driver = _direction_driver;
}
break;
#endif
#endif // AP_WINDVANE_SIM_ENABLED
#if AP_WINDVANE_NMEA_ENABLED
case Speed_type::WINDSPEED_NMEA:
// single driver does both speed and direction
if (_direction_type != WindVaneType::WINDVANE_NMEA) {
@ -251,9 +266,12 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager)
_speed_driver = _direction_driver;
}
break;
#endif // AP_WINDVANE_NMEA_ENABLED
#if AP_WINDVANE_RPM_ENABLED
case Speed_type::WINDSPEED_RPM:
_speed_driver = new AP_WindVane_RPM(*this);
break;
#endif
}
}
@ -476,3 +494,5 @@ namespace AP {
return AP_WindVane::get_singleton();
}
};
#endif // AP_WINDVANE_ENABLED

22
libraries/AP_WindVane/AP_WindVane.h
View File

@ -14,6 +14,10 @@
*/
#pragma once
#include "AP_WindVane_config.h"
#if AP_WINDVANE_ENABLED
#include <AP_Param/AP_Param.h>
#include <Filter/Filter.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
@ -162,11 +166,17 @@ private:
enum WindVaneType {
WINDVANE_NONE = 0,
#if AP_WINDVANE_HOME_ENABLED
WINDVANE_HOME_HEADING = 1,
WINDVANE_PWM_PIN = 2,
#endif
#if AP_WINDVANE_ANALOG_ENABLED
WINDVANE_ANALOG_PIN = 3,
#endif
#if AP_WINDVANE_NMEA_ENABLED
WINDVANE_NMEA = 4,
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#endif
#if AP_WINDVANE_SIM_ENABLED
WINDVANE_SITL_TRUE = 10,
WINDVANE_SITL_APPARENT = 11,
#endif
@ -174,11 +184,17 @@ private:
enum Speed_type {
WINDSPEED_NONE = 0,
#if AP_WINDVANE_AIRSPEED_ENABLED
WINDSPEED_AIRSPEED = 1,
#endif
WINDVANE_WIND_SENSOR_REV_P = 2,
#if AP_WINDVANE_RPM_ENABLED
WINDSPEED_RPM = 3,
#endif
#if AP_WINDVANE_NMEA_ENABLED
WINDSPEED_NMEA = 4,
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#endif
#if AP_WINDVANE_SIM_ENABLED
WINDSPEED_SITL_TRUE = 10,
WINDSPEED_SITL_APPARENT = 11,
#endif
@ -190,3 +206,5 @@ private:
namespace AP {
AP_WindVane *windvane();
};
#endif // AP_WINDVANE_ENABLED

8
libraries/AP_WindVane/AP_WindVane_Airspeed.cpp
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@ -13,14 +13,18 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_config.h"
#if AP_WINDVANE_AIRSPEED_ENABLED
#include "AP_WindVane_Airspeed.h"
void AP_WindVane_Airspeed::update_speed()
{
#if AP_AIRSPEED_ENABLED
const AP_Airspeed* airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr) {
_frontend._speed_apparent_raw = airspeed->get_raw_airspeed();
}
#endif
}
#endif // AP_WINDVANE_AIRSPEED_ENABLED

6
libraries/AP_WindVane/AP_WindVane_Airspeed.h
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@ -14,6 +14,10 @@
*/
#pragma once
#include "AP_WindVane_config.h"
#if AP_WINDVANE_AIRSPEED_ENABLED
#include "AP_WindVane_Backend.h"
#include <AP_Airspeed/AP_Airspeed.h>
@ -27,3 +31,5 @@ public:
// update state
void update_speed() override;
};
#endif // AP_WINDVANE_AIRSPEED_ENABLED

6
libraries/AP_WindVane/AP_WindVane_Analog.cpp
View File

@ -13,6 +13,10 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_config.h"
#if AP_WINDVANE_ANALOG_ENABLED
#include "AP_WindVane_Analog.h"
#include <AP_HAL/AP_HAL.h>
@ -82,3 +86,5 @@ void AP_WindVane_Analog::calibrate()
_cal_start_ms = 0;
}
}
#endif // AP_WINDVANE_ANALOG_ENABLED

6
libraries/AP_WindVane/AP_WindVane_Analog.h
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@ -14,6 +14,10 @@
*/
#pragma once
#include "AP_WindVane_config.h"
#if AP_WINDVANE_ANALOG_ENABLED
#include "AP_WindVane_Backend.h"
class AP_WindVane_Analog : public AP_WindVane_Backend
@ -35,3 +39,5 @@ private:
float _cal_volt_min;
float _cal_volt_max;
};
#endif // AP_WINDVANE_ANALOG_ENABLED

6
libraries/AP_WindVane/AP_WindVane_Backend.cpp
View File

@ -13,6 +13,10 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_config.h"
#if AP_WINDVANE_ENABLED
#include "AP_WindVane.h"
#include "AP_WindVane_Backend.h"
@ -31,3 +35,5 @@ void AP_WindVane_Backend::calibrate()
_frontend._calibration.set_and_save(0);
return;
}
#endif // AP_WINDVANE_ENABLED

6
libraries/AP_WindVane/AP_WindVane_Backend.h
View File

@ -14,6 +14,10 @@
*/
#pragma once
#include "AP_WindVane_config.h"
#if AP_WINDVANE_ENABLED
#include "AP_WindVane.h"
class AP_WindVane_Backend
@ -39,3 +43,5 @@ protected:
AP_WindVane &_frontend;
};
#endif // AP_WINDVANE_ENABLED

6
libraries/AP_WindVane/AP_WindVane_Home.cpp
View File

@ -13,6 +13,10 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_config.h"
#if AP_WINDVANE_HOME_ENABLED
#include "AP_WindVane_Home.h"
#include <AP_AHRS/AP_AHRS.h>
@ -30,3 +34,5 @@ void AP_WindVane_Home::update_direction()
_frontend._direction_apparent_raw = wrap_PI(direction_apparent_ef - AP::ahrs().yaw);
}
#endif // AP_WINDVANE_HOME_ENABLED

6
libraries/AP_WindVane/AP_WindVane_Home.h
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@ -14,6 +14,10 @@
*/
#pragma once
#include "AP_WindVane_config.h"
#if AP_WINDVANE_HOME_ENABLED
#include "AP_WindVane_Backend.h"
#include <RC_Channel/RC_Channel.h>
@ -26,3 +30,5 @@ public:
// update state
void update_direction() override;
};
#endif // AP_WINDVANE_HOME_ENABLED

6
libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp
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@ -13,6 +13,10 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_config.h"
#if AP_WINDVANE_MODERNDEVICE_ENABLED
#include "AP_WindVane_ModernDevice.h"
// read wind speed from Modern Device rev p wind sensor
// https://moderndevice.com/news/calibrating-rev-p-wind-sensor-new-regression/
@ -70,3 +74,5 @@ void AP_WindVane_ModernDevice::calibrate()
_frontend._speed_sensor_voltage_offset.set_and_save(_current_analog_voltage);
_frontend._calibration.set_and_save(0);
}
#endif // AP_WINDVANE_MODERNDEVICE_ENABLED

6
libraries/AP_WindVane/AP_WindVane_ModernDevice.h
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@ -14,6 +14,10 @@
*/
#pragma once
#include "AP_WindVane_config.h"
#if AP_WINDVANE_MODERNDEVICE_ENABLED
#include "AP_WindVane_Backend.h"
class AP_WindVane_ModernDevice : public AP_WindVane_Backend
@ -33,3 +37,5 @@ private:
AP_HAL::AnalogSource *_speed_analog_source;
AP_HAL::AnalogSource *_temp_analog_source;
};
#endif // AP_WINDVANE_MODERNDEVICE_ENABLED

6
libraries/AP_WindVane/AP_WindVane_NMEA.cpp
View File

@ -13,6 +13,10 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_config.h"
#if AP_WINDVANE_NMEA_ENABLED
#include <AP_HAL/AP_HAL.h>
#include "AP_WindVane_NMEA.h"
#include <AP_SerialManager/AP_SerialManager.h>
@ -197,3 +201,5 @@ bool AP_WindVane_NMEA::decode_latest_term()
}
return false;
}
#endif // AP_WINDVANE_NMEA_ENABLED

6
libraries/AP_WindVane/AP_WindVane_NMEA.h
View File

@ -14,6 +14,10 @@
*/
#pragma once
#include "AP_WindVane_config.h"
#if AP_WINDVANE_NMEA_ENABLED
#include "AP_WindVane_Backend.h"
class AP_WindVane_NMEA : public AP_WindVane_Backend
@ -54,3 +58,5 @@ private:
bool _sentence_valid; // is current sentence valid so far
bool _sentence_done; // true if this sentence has already been decoded
};
#endif // AP_WINDVANE_NMEA_ENABLED

8
libraries/AP_WindVane/AP_WindVane_RPM.cpp
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@ -15,11 +15,14 @@
#include "AP_WindVane_RPM.h"
#include "AP_WindVane_config.h"
#if AP_WINDVANE_RPM_ENABLED
#include <AP_RPM/AP_RPM.h>
void AP_WindVane_RPM::update_speed()
{
#if AP_RPM_ENABLED
const AP_RPM* rpm = AP_RPM::get_singleton();
if (rpm != nullptr) {
float temp_speed;
@ -28,5 +31,6 @@ void AP_WindVane_RPM::update_speed()
_frontend._speed_apparent_raw = temp_speed;
}
}
#endif // AP_RPM_ENABLED
}
#endif // AP_WINDVANE_RPM_ENABLED

6
libraries/AP_WindVane/AP_WindVane_RPM.h
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@ -14,6 +14,10 @@
*/
#pragma once
#include "AP_WindVane_config.h"
#if AP_WINDVANE_RPM_ENABLED
#include "AP_WindVane_Backend.h"
class AP_WindVane_RPM : public AP_WindVane_Backend
@ -25,3 +29,5 @@ public:
// update state
void update_speed() override;
};
#endif // AP_WINDVANE_RPM_ENABLED

8
libraries/AP_WindVane/AP_WindVane_SITL.cpp
View File

@ -13,9 +13,11 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_SITL.h"
#include "AP_WindVane_config.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#if AP_WINDVANE_SIM_ENABLED
#include "AP_WindVane_SITL.h"
#include <SITL/SITL.h>
#include <AP_AHRS/AP_AHRS.h>
@ -71,4 +73,4 @@ void AP_WindVane_SITL::update_speed()
_frontend._speed_apparent_raw = AP::sitl()->get_apparent_wind_spd();
}
}
#endif
#endif // AP_WINDVANE_SIM_ENABLED

6
libraries/AP_WindVane/AP_WindVane_SITL.h
View File

@ -14,6 +14,10 @@
*/
#pragma once
#include "AP_WindVane_config.h"
#if AP_WINDVANE_SIM_ENABLED
#include "AP_WindVane_Backend.h"
class AP_WindVane_SITL : public AP_WindVane_Backend
@ -29,3 +33,5 @@ public:
void update_speed() override;
#endif
};
#endif // AP_WINDVANE_SIM_ENABLED

42
libraries/AP_WindVane/AP_WindVane_config.h Normal file
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@ -0,0 +1,42 @@
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_Airspeed/AP_Airspeed_config.h>
#include <AP_RPM/AP_RPM_config.h>
#ifndef AP_WINDVANE_ENABLED
#define AP_WINDVANE_ENABLED 1
#endif
#ifndef AP_WINDVANE_BACKEND_DEFAULT_ENABLED
#define AP_WINDVANE_BACKEND_DEFAULT_ENABLED AP_WINDVANE_ENABLED
#endif
#ifndef AP_WINDVANE_AIRSPEED_ENABLED
#define AP_WINDVANE_AIRSPEED_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED && AP_AIRSPEED_ENABLED
#endif
#ifndef AP_WINDVANE_ANALOG_ENABLED
#define AP_WINDVANE_ANALOG_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_WINDVANE_HOME_ENABLED
#define AP_WINDVANE_HOME_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_WINDVANE_MODERNDEVICE_ENABLED
#define AP_WINDVANE_MODERNDEVICE_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_WINDVANE_NMEA_ENABLED
#define AP_WINDVANE_NMEA_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_WINDVANE_RPM_ENABLED
#define AP_WINDVANE_RPM_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED && AP_RPM_ENABLED
#endif
#ifndef AP_WINDVANE_SIM_ENABLED
#define AP_WINDVANE_SIM_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED
#endif