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AP_GPS: decouple status enumeration from MAVLink fix types

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This moves us towards being able to compile the GPS library without having the MAVLink headers available.  We shouldn't need those headers when building for Periph.

If the headers are available then we ensure our values match mavlink so we can do a simple cast from one to the other
This commit is contained in:
Peter Barker 2023-03-16 13:17:34 +11:00 committed by Peter Barker
parent 4934808ba8
commit 3c3f383601
2 changed files with 29 additions and 8 deletions
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20
libraries/AP_GPS/AP_GPS.cpp
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@ -87,6 +87,26 @@ const char AP_GPS::_initialisation_blob[] =
"" // to compile we need *some_initialiser if all backends compiled out
;
#if HAL_GCS_ENABLED
// ensure that our GPS_Status enumeration is 1:1 with the mavlink
// numbers of the same fix type. This allows us to do a simple cast
// from one to the other when sending GPS mavlink messages, rather
// than having some sort of mapping function from our internal
// enumeration into the mavlink enumeration. Doing things this way
// has two advantages - in the future we could add that mapping
// function and change our enumeration, and the other is that it
// allows us to build the GPS library without having the mavlink
// headers built (for example, in AP_Periph we shouldn't need mavlink
// headers).
static_assert((uint32_t)AP_GPS::GPS_Status::NO_GPS == (uint32_t)GPS_FIX_TYPE_NO_GPS, "NO_GPS incorrect");
static_assert((uint32_t)AP_GPS::GPS_Status::NO_FIX == (uint32_t)GPS_FIX_TYPE_NO_FIX, "NO_FIX incorrect");
static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_2D == (uint32_t)GPS_FIX_TYPE_2D_FIX, "FIX_2D incorrect");
static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D == (uint32_t)GPS_FIX_TYPE_3D_FIX, "FIX_3D incorrect");
static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS == (uint32_t)GPS_FIX_TYPE_DGPS, "FIX_DGPS incorrect");
static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT == (uint32_t)GPS_FIX_TYPE_RTK_FLOAT, "FIX_RTK_FLOAT incorrect");
static_assert((uint32_t)AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED == (uint32_t)GPS_FIX_TYPE_RTK_FIXED, "FIX_RTK_FIXED incorrect");
#endif
AP_GPS *AP_GPS::_singleton;
// table of user settable parameters

17
libraries/AP_GPS/AP_GPS.h
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@ -135,15 +135,16 @@ public:
#endif
};
/// GPS status codes
/// GPS status codes. These are kept aligned with MAVLink by
/// static_assert in AP_GPS.cpp
enum GPS_Status {
NO_GPS = GPS_FIX_TYPE_NO_GPS, ///< No GPS connected/detected
NO_FIX = GPS_FIX_TYPE_NO_FIX, ///< Receiving valid GPS messages but no lock
GPS_OK_FIX_2D = GPS_FIX_TYPE_2D_FIX, ///< Receiving valid messages and 2D lock
GPS_OK_FIX_3D = GPS_FIX_TYPE_3D_FIX, ///< Receiving valid messages and 3D lock
GPS_OK_FIX_3D_DGPS = GPS_FIX_TYPE_DGPS, ///< Receiving valid messages and 3D lock with differential improvements
GPS_OK_FIX_3D_RTK_FLOAT = GPS_FIX_TYPE_RTK_FLOAT, ///< Receiving valid messages and 3D RTK Float
GPS_OK_FIX_3D_RTK_FIXED = GPS_FIX_TYPE_RTK_FIXED, ///< Receiving valid messages and 3D RTK Fixed
NO_GPS = 0, ///< No GPS connected/detected
NO_FIX = 1, ///< Receiving valid GPS messages but no lock
GPS_OK_FIX_2D = 2, ///< Receiving valid messages and 2D lock
GPS_OK_FIX_3D = 3, ///< Receiving valid messages and 3D lock
GPS_OK_FIX_3D_DGPS = 4, ///< Receiving valid messages and 3D lock with differential improvements
GPS_OK_FIX_3D_RTK_FLOAT = 5, ///< Receiving valid messages and 3D RTK Float
GPS_OK_FIX_3D_RTK_FIXED = 6, ///< Receiving valid messages and 3D RTK Fixed
};
// GPS navigation engine settings. Not all GPS receivers support