From 74e651e5d755b312df3bbb4167674bc148cea407 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 8 Jul 2022 14:15:35 +1000 Subject: [PATCH] AP_ExternalAHRS: stop using GCS_MAVLINK.h in header files ... by passing through a reference to a link object instead --- libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp | 4 ++-- libraries/AP_ExternalAHRS/AP_ExternalAHRS.h | 4 +--- libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp | 4 ++-- libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h | 2 +- libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp | 4 ++-- libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h | 4 +--- libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h | 2 +- 7 files changed, 10 insertions(+), 14 deletions(-) diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp index b99efe4ffd..a56114ba99 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp @@ -194,10 +194,10 @@ Vector3f AP_ExternalAHRS::get_accel(void) } // send an EKF_STATUS message to GCS -void AP_ExternalAHRS::send_status_report(mavlink_channel_t chan) const +void AP_ExternalAHRS::send_status_report(GCS_MAVLINK &link) const { if (backend) { - backend->send_status_report(chan); + backend->send_status_report(link); } } diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h index 0d7aa94bcc..2f516c0433 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h @@ -29,8 +29,6 @@ #if HAL_EXTERNAL_AHRS_ENABLED -#include - class AP_ExternalAHRS_backend; class AP_ExternalAHRS { @@ -91,7 +89,7 @@ public: void get_filter_status(nav_filter_status &status) const; Vector3f get_gyro(void); Vector3f get_accel(void); - void send_status_report(mavlink_channel_t chan) const; + void send_status_report(class GCS_MAVLINK &link) const; // update backend void update(); diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp index eda7f91c4e..63ba859302 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp @@ -491,7 +491,7 @@ void AP_ExternalAHRS_LORD::get_filter_status(nav_filter_status &status) const } } -void AP_ExternalAHRS_LORD::send_status_report(mavlink_channel_t chan) const +void AP_ExternalAHRS_LORD::send_status_report(GCS_MAVLINK &link) const { // prepare flags uint16_t flags = 0; @@ -536,7 +536,7 @@ void AP_ExternalAHRS_LORD::send_status_report(mavlink_channel_t chan) const const float pos_gate = 4; // represents hz value data is posted at const float hgt_gate = 4; // represents hz value data is posted at const float mag_var = 0; //we may need to change this to be like the other gates, set to 0 because mag is ignored by the ins filter in vectornav - mavlink_msg_ekf_status_report_send(chan, flags, + mavlink_msg_ekf_status_report_send(link.get_chan(), flags, gnss_data.speed_accuracy/vel_gate, gnss_data.horizontal_position_accuracy/pos_gate, gnss_data.vertical_position_accuracy/hgt_gate, mag_var, 0, 0); diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h index f7faa04fa6..6695437d49 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.h @@ -40,7 +40,7 @@ public: bool initialised(void) const override; bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override; void get_filter_status(nav_filter_status &status) const override; - void send_status_report(mavlink_channel_t chan) const override; + void send_status_report(class GCS_MAVLINK &link) const override; // check for new data void update() override { diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp index 72b64a160b..596f732a0a 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp @@ -417,7 +417,7 @@ void AP_ExternalAHRS_VectorNav::get_filter_status(nav_filter_status &status) con } // send an EKF_STATUS message to GCS -void AP_ExternalAHRS_VectorNav::send_status_report(mavlink_channel_t chan) const +void AP_ExternalAHRS_VectorNav::send_status_report(GCS_MAVLINK &link) const { if (!last_pkt1) { return; @@ -466,7 +466,7 @@ void AP_ExternalAHRS_VectorNav::send_status_report(mavlink_channel_t chan) const const float pos_gate = 5; const float hgt_gate = 5; const float mag_var = 0; - mavlink_msg_ekf_status_report_send(chan, flags, + mavlink_msg_ekf_status_report_send(link.get_chan(), flags, pkt1.velU/vel_gate, pkt1.posU/pos_gate, pkt1.posU/hgt_gate, mag_var, 0, 0); } diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h index f788bba801..e83df32401 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h @@ -22,8 +22,6 @@ #if HAL_EXTERNAL_AHRS_ENABLED -#include - class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend { public: @@ -37,7 +35,7 @@ public: bool initialised(void) const override; bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override; void get_filter_status(nav_filter_status &status) const override; - void send_status_report(mavlink_channel_t chan) const override; + void send_status_report(class GCS_MAVLINK &link) const override; // check for new data void update() override { diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h index fe0edbe132..1d0204e0d1 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h @@ -34,7 +34,7 @@ public: virtual bool initialised(void) const = 0; virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const = 0; virtual void get_filter_status(nav_filter_status &status) const {} - virtual void send_status_report(mavlink_channel_t chan) const {} + virtual void send_status_report(class GCS_MAVLINK &link) const {} // check for new data virtual void update() = 0;