mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
cd1118acb4
* remove unnecessary nullptr check, these are always called from an initialized AP_DroneCAN so if it's nullptr something has gone horrifically wrong * pass in driver index instead of repeatedly calling function to get it * simplify error handling; knowing exactly which allocation failed is not super helpful and one failing likely means subsequent ones will too, as it can only fail due to being out of memory
66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
#pragma once
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#include "AP_Airspeed_config.h"
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#if AP_AIRSPEED_DRONECAN_ENABLED
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#include "AP_Airspeed_Backend.h"
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#include <AP_DroneCAN/AP_DroneCAN.h>
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class AP_Airspeed_DroneCAN : public AP_Airspeed_Backend {
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public:
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using AP_Airspeed_Backend::AP_Airspeed_Backend;
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bool init(void) override;
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// return the current differential_pressure in Pascal
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bool get_differential_pressure(float &pressure) override;
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// temperature not available via analog backend
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bool get_temperature(float &temperature) override;
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#if AP_AIRSPEED_HYGROMETER_ENABLE
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// get hygrometer data
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bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) override;
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#endif
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static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
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static AP_Airspeed_Backend* probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid);
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private:
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static void handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg);
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static void handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg);
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static AP_Airspeed_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
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float _pressure; // Pascal
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float _temperature; // Celcius
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uint32_t _last_sample_time_ms;
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// hygrometer data
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struct {
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float temperature;
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float humidity;
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uint32_t last_sample_ms;
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} _hygrometer;
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HAL_Semaphore _sem_airspeed;
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// Module Detection Registry
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static struct DetectedModules {
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AP_DroneCAN* ap_dronecan;
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uint8_t node_id;
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AP_Airspeed_DroneCAN *driver;
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} _detected_modules[AIRSPEED_MAX_SENSORS];
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static HAL_Semaphore _sem_registry;
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bool _have_temperature;
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};
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#endif // AP_AIRSPEED_DRONECAN_ENABLED
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