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AP_GPS: 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 9fe63ca2d4
commit 834831bfeb
2 changed files with 18 additions and 18 deletions
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34
libraries/AP_GPS/AP_GPS_DroneCAN.cpp
View File

@ -180,7 +180,7 @@ AP_GPS_Backend* AP_GPS_DroneCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
if (backend == nullptr) {
AP::can().log_text(AP_CANManager::LOG_ERROR,
LOG_TAG,
"Failed to register UAVCAN GPS Node %d on Bus %d\n",
"Failed to register DroneCAN GPS Node %d on Bus %d\n",
_detected_modules[found_match].node_id,
_detected_modules[found_match].ap_dronecan->get_driver_index());
} else {
@ -188,11 +188,11 @@ AP_GPS_Backend* AP_GPS_DroneCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
backend->_detected_module = found_match;
AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG,
"Registered UAVCAN GPS Node %d on Bus %d as instance %d\n",
"Registered DroneCAN GPS Node %d on Bus %d as instance %d\n",
_detected_modules[found_match].node_id,
_detected_modules[found_match].ap_dronecan->get_driver_index(),
_state.instance);
snprintf(backend->_name, ARRAY_SIZE(backend->_name), "UAVCAN%u-%u", _detected_modules[found_match].ap_dronecan->get_driver_index()+1, _detected_modules[found_match].node_id);
snprintf(backend->_name, ARRAY_SIZE(backend->_name), "DroneCAN%u-%u", _detected_modules[found_match].ap_dronecan->get_driver_index()+1, _detected_modules[found_match].node_id);
_detected_modules[found_match].instance = _state.instance;
for (uint8_t i=0; i < GPS_MAX_RECEIVERS; i++) {
if (_detected_modules[found_match].node_id == AP::gps()._node_id[i]) {
@ -210,7 +210,7 @@ AP_GPS_Backend* AP_GPS_DroneCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
if (backend->role == AP_GPS::GPS_ROLE_MB_BASE) {
backend->rtcm3_parser = new RTCM3_Parser;
if (backend->rtcm3_parser == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UAVCAN%u-%u: failed RTCMv3 parser allocation", _detected_modules[found_match].ap_dronecan->get_driver_index()+1, _detected_modules[found_match].node_id);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "DroneCAN%u-%u: failed RTCMv3 parser allocation", _detected_modules[found_match].ap_dronecan->get_driver_index()+1, _detected_modules[found_match].node_id);
}
}
#endif // GPS_MOVING_BASELINE
@ -254,7 +254,7 @@ bool AP_GPS_DroneCAN::backends_healthy(char failure_msg[], uint16_t failure_msg_
return true;
}
AP_GPS_DroneCAN* AP_GPS_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
AP_GPS_DroneCAN* AP_GPS_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
{
if (ap_dronecan == nullptr) {
return nullptr;
@ -464,7 +464,7 @@ void AP_GPS_DroneCAN::handle_fix2_msg(const uavcan_equipment_gnss_Fix2& msg, uin
if (!seen_message) {
if (interim_state.status == AP_GPS::GPS_Status::NO_GPS) {
// the first time we see a fix message we change from
// NO_GPS to NO_FIX, indicating to user that a UAVCAN GPS
// NO_GPS to NO_FIX, indicating to user that a DroneCAN GPS
// has been seen
interim_state.status = AP_GPS::GPS_Status::NO_FIX;
}
@ -538,7 +538,7 @@ void AP_GPS_DroneCAN::handle_moving_baseline_msg(const ardupilot_gnss_MovingBase
{
WITH_SEMAPHORE(sem);
if (role != AP_GPS::GPS_ROLE_MB_BASE) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Incorrect Role set for UAVCAN GPS, %d should be Base", node_id);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Incorrect Role set for DroneCAN GPS, %d should be Base", node_id);
return;
}
@ -597,7 +597,7 @@ void AP_GPS_DroneCAN::handle_fix2_msg_trampoline(AP_DroneCAN *ap_dronecan, const
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_fix2_msg(msg, transfer.timestamp_usec);
}
@ -607,7 +607,7 @@ void AP_GPS_DroneCAN::handle_aux_msg_trampoline(AP_DroneCAN *ap_dronecan, const
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_aux_msg(msg);
}
@ -617,7 +617,7 @@ void AP_GPS_DroneCAN::handle_heading_msg_trampoline(AP_DroneCAN *ap_dronecan, co
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_heading_msg(msg);
}
@ -627,7 +627,7 @@ void AP_GPS_DroneCAN::handle_status_msg_trampoline(AP_DroneCAN *ap_dronecan, con
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_status_msg(msg);
}
@ -638,7 +638,7 @@ void AP_GPS_DroneCAN::handle_status_msg_trampoline(AP_DroneCAN *ap_dronecan, con
void AP_GPS_DroneCAN::handle_moving_baseline_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_MovingBaselineData& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_moving_baseline_msg(msg, transfer.source_node_id);
}
@ -648,7 +648,7 @@ void AP_GPS_DroneCAN::handle_moving_baseline_msg_trampoline(AP_DroneCAN *ap_dron
void AP_GPS_DroneCAN::handle_relposheading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_RelPosHeading& msg)
{
WITH_SEMAPHORE(_sem_registry);
AP_GPS_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id);
AP_GPS_DroneCAN* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id);
if (driver != nullptr) {
driver->handle_relposheading_msg(msg, transfer.source_node_id);
}
@ -702,7 +702,7 @@ bool AP_GPS_DroneCAN::read(void)
if (_new_data) {
_new_data = false;
// the encoding of accuracies in UAVCAN can result in infinite
// the encoding of accuracies in DroneCAN can result in infinite
// values. These cause problems with blending. Use 1000m and 1000m/s instead
interim_state.horizontal_accuracy = MIN(interim_state.horizontal_accuracy, 1000.0);
interim_state.vertical_accuracy = MIN(interim_state.vertical_accuracy, 1000.0);
@ -760,9 +760,9 @@ bool AP_GPS_DroneCAN::is_configured(void) const
*/
void AP_GPS_DroneCAN::inject_data(const uint8_t *data, uint16_t len)
{
// we only handle this if we are the first UAVCAN GPS or we are
// we only handle this if we are the first DroneCAN GPS or we are
// using a different uavcan instance than the first GPS, as we
// send the data as broadcast on all UAVCAN devive ports and we
// send the data as broadcast on all DroneCAN devive ports and we
// don't want to send duplicates
if (_detected_module == 0 ||
_detected_modules[_detected_module].ap_dronecan != _detected_modules[0].ap_dronecan) {
@ -828,7 +828,7 @@ void AP_GPS_DroneCAN::handle_param_save_response(AP_DroneCAN* ap_dronecan, const
cfg_step++;
}
// Also send reboot command
// this is ok as we are sending from UAVCAN thread context
// this is ok as we are sending from DroneCAN thread context
Debug("AP_GPS_DroneCAN: sending reboot command %d\n", node_id);
ap_dronecan->send_reboot_request(node_id);
}

2
libraries/AP_GPS/AP_GPS_DroneCAN.h
View File

@ -95,7 +95,7 @@ private:
static bool take_registry();
static void give_registry();
static AP_GPS_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
static AP_GPS_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
bool _new_data;
AP_GPS::GPS_State interim_state;