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AP_Airspeed: text messages and more defines

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This commit is contained in:
Andrew Tridgell 2023-04-08 14:27:51 +10:00
parent c53e5eaafc
commit 20436ef527
2 changed files with 6 additions and 6 deletions
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10
libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp
View File

@ -54,14 +54,14 @@ AP_Airspeed_Backend* AP_Airspeed_DroneCAN::probe(AP_Airspeed &_frontend, uint8_t
if (backend == nullptr) { if (backend == nullptr) {
AP::can().log_text(AP_CANManager::LOG_INFO, AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG, LOG_TAG,
"Failed register UAVCAN Airspeed Node %d on Bus %d\n", "Failed register DroneCAN Airspeed Node %d on Bus %d\n",
_detected_modules[i].node_id, _detected_modules[i].node_id,
_detected_modules[i].ap_dronecan->get_driver_index()); _detected_modules[i].ap_dronecan->get_driver_index());
} else { } else {
_detected_modules[i].driver = backend; _detected_modules[i].driver = backend;
AP::can().log_text(AP_CANManager::LOG_INFO, AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG, LOG_TAG,
"Registered UAVCAN Airspeed Node %d on Bus %d\n", "Registered DroneCAN Airspeed Node %d on Bus %d\n",
_detected_modules[i].node_id, _detected_modules[i].node_id,
_detected_modules[i].ap_dronecan->get_driver_index()); _detected_modules[i].ap_dronecan->get_driver_index());
backend->set_bus_id(bus_id); backend->set_bus_id(bus_id);
@ -73,7 +73,7 @@ AP_Airspeed_Backend* AP_Airspeed_DroneCAN::probe(AP_Airspeed &_frontend, uint8_t
return backend; return backend;
} }
AP_Airspeed_DroneCAN* AP_Airspeed_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id) AP_Airspeed_DroneCAN* AP_Airspeed_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
{ {
if (ap_dronecan == nullptr) { if (ap_dronecan == nullptr) {
return nullptr; return nullptr;
@ -113,7 +113,7 @@ void AP_Airspeed_DroneCAN::handle_airspeed(AP_DroneCAN *ap_dronecan, const Canar
{ {
WITH_SEMAPHORE(_sem_registry); WITH_SEMAPHORE(_sem_registry);
AP_Airspeed_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id); AP_Airspeed_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) { if (driver != nullptr) {
WITH_SEMAPHORE(driver->_sem_airspeed); WITH_SEMAPHORE(driver->_sem_airspeed);
@ -132,7 +132,7 @@ void AP_Airspeed_DroneCAN::handle_hygrometer(AP_DroneCAN *ap_dronecan, const Can
{ {
WITH_SEMAPHORE(_sem_registry); WITH_SEMAPHORE(_sem_registry);
AP_Airspeed_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id); AP_Airspeed_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) { if (driver != nullptr) {
WITH_SEMAPHORE(driver->_sem_airspeed); WITH_SEMAPHORE(driver->_sem_airspeed);

2
libraries/AP_Airspeed/AP_Airspeed_DroneCAN.h
View File

@ -38,7 +38,7 @@ private:
static void handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg); static void handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg);
static void handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg); static void handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg);
static AP_Airspeed_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id); static AP_Airspeed_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
float _pressure; // Pascal float _pressure; // Pascal
float _temperature; // Celcius float _temperature; // Celcius