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Add specific defines for sending of GPS mavlink messages #28572

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merged 9 commits into from
Nov 13, 2024
Merged

Add specific defines for sending of GPS mavlink messages #28572

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f8ea625
AP_GPS: add specific defines for sending of GPS mavlink messages
peterbarker Nov 10, 2024
3f2293b
GCS_MAVLink: add specific defines for sending of GPS mavlink messages
peterbarker Nov 10, 2024
7989d8e
AntennaTracker: add specific defines for sending of GPS mavlink messages
peterbarker Nov 10, 2024
91cd24c
ArduCopter: add specific defines for sending of GPS mavlink messages
peterbarker Nov 10, 2024
5d08716
ArduPlane: add specific defines for sending of GPS mavlink messages
peterbarker Nov 10, 2024
5e76621
ArduSub: add specific defines for sending of GPS mavlink messages
peterbarker Nov 10, 2024
051e573
Blimp: add specific defines for sending of GPS mavlink messages
peterbarker Nov 10, 2024
449b7cb
Rover: add specific defines for sending of GPS mavlink messages
peterbarker Nov 10, 2024
9402d6e
AP_GPS: don't compile support for sending rtk messages if no backend …
peterbarker Nov 12, 2024
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8 changes: 7 additions & 1 deletion AntennaTracker/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,10 +276,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
#endif
MSG_MEMINFO,
MSG_NAV_CONTROLLER_OUTPUT,
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
MSG_GPS_RAW,
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
MSG_GPS_RTK,
#if GPS_MAX_RECEIVERS > 1
#endif
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
MSG_GPS2_RAW,
#endif
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
MSG_GPS2_RTK,
#endif
};
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8 changes: 7 additions & 1 deletion ArduCopter/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -505,10 +505,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
#endif
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
MSG_GPS_RAW,
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
MSG_GPS_RTK,
#if GPS_MAX_RECEIVERS > 1
#endif
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
MSG_GPS2_RAW,
#endif
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
MSG_GPS2_RTK,
#endif
MSG_NAV_CONTROLLER_OUTPUT,
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8 changes: 7 additions & 1 deletion ArduPlane/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -630,10 +630,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
#endif
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT,
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
MSG_GPS_RAW,
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
MSG_GPS_RTK,
#if GPS_MAX_RECEIVERS > 1
#endif
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
MSG_GPS2_RAW,
#endif
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
MSG_GPS2_RTK,
#endif
MSG_NAV_CONTROLLER_OUTPUT,
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8 changes: 7 additions & 1 deletion ArduSub/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -369,10 +369,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
#endif
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT,
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
MSG_GPS_RAW,
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
MSG_GPS_RTK,
#if GPS_MAX_RECEIVERS > 1
#endif
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
MSG_GPS2_RAW,
#endif
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
MSG_GPS2_RTK,
#endif
MSG_NAV_CONTROLLER_OUTPUT,
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8 changes: 7 additions & 1 deletion Blimp/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -327,10 +327,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
#endif
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
MSG_GPS_RAW,
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
MSG_GPS_RTK,
#if GPS_MAX_RECEIVERS > 1
#endif
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
MSG_GPS2_RAW,
#endif
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
MSG_GPS2_RTK,
#endif
MSG_NAV_CONTROLLER_OUTPUT,
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8 changes: 7 additions & 1 deletion Rover/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -541,10 +541,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
#endif
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT,
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
MSG_GPS_RAW,
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
MSG_GPS_RTK,
#if GPS_MAX_RECEIVERS > 1
#endif
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
MSG_GPS2_RAW,
#endif
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
MSG_GPS2_RTK,
#endif
MSG_NAV_CONTROLLER_OUTPUT,
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4 changes: 3 additions & 1 deletion Tools/AP_Periph/GCS_MAVLink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,10 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_MCU_STATUS,
#endif
MSG_MEMINFO,
#if AP_GPS_ENABLED
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
MSG_GPS_RAW,
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
MSG_GPS_RTK,
#endif
};
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8 changes: 5 additions & 3 deletions libraries/AP_GPS/AP_GPS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1367,6 +1367,7 @@ uint16_t AP_GPS::gps_yaw_cdeg(uint8_t instance) const
return yaw_cd;
}

#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
{
const Location &loc = location(0);
Expand Down Expand Up @@ -1400,8 +1401,9 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
0, // TODO one-sigma heading accuracy standard deviation
gps_yaw_cdeg(0));
}
#endif // AP_GPS_GPS_RAW_INT_SENDING_ENABLED

#if GPS_MAX_RECEIVERS > 1
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
{
// always send the message if 2nd GPS is configured
Expand Down Expand Up @@ -1442,9 +1444,9 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
sacc * 1000, // one-sigma standard deviation in mm/s
0); // TODO one-sigma heading accuracy standard deviation
}
#endif // GPS_MAX_RECEIVERS
#endif // AP_GPS_GPS2_RAW_SENDING_ENABLED

#if HAL_GCS_ENABLED
#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst)
{
if (inst >= GPS_MAX_RECEIVERS) {
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17 changes: 17 additions & 0 deletions libraries/AP_GPS/AP_GPS_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -104,3 +104,20 @@
#ifndef HAL_GPS_COM_PORT_DEFAULT
#define HAL_GPS_COM_PORT_DEFAULT 1
#endif


#ifndef AP_GPS_GPS_RAW_INT_SENDING_ENABLED
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I don't think we want or need to be able to control these individually. Instead a single define AP_GPS_LEGACY_MESSAGE_SENDING_ENABLED would be a lot simpler

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I've pushed up a patch which uses the new more-details defines to save 300-odd bytes on boards that don't have either of ERB or SBF:

Board                    AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
CubeOrange-periph-heavy  *                                                                     
CubeRedPrimary                      *      *           *       *                 *      *      *
Durandal                            *      *           *       *                 *      *      *
Hitec-Airspeed           *                                                                     
KakuteH7-bdshot                     *      *           *       *                 *      *      *
MatekF405                           -312   *           -312    -312              -312   -320   -312
Pixhawk1-1M-bdshot                  -312               -312    -312              -312   -304   -312
f103-QiotekPeriph        *                                                                     
f303-Universal           *                                                                     
iomcu                                                                *                         
revo-mini                           -312   *           -312    -312              -312   -312   -312
skyviper-journey                                       *                                       
skyviper-v2450                                         -280

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.... also, if you only have a single GPS (#26751) we can save a few hundred more bytes for a year or two.

#define AP_GPS_GPS_RAW_INT_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED
#endif

#ifndef AP_GPS_GPS2_RAW_SENDING_ENABLED
#define AP_GPS_GPS2_RAW_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1
#endif

#ifndef AP_GPS_GPS_RTK_SENDING_ENABLED
#define AP_GPS_GPS_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)
#endif

#ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED
#define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)
#endif
5 changes: 3 additions & 2 deletions libraries/AP_GPS/GPS_Backend.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,7 @@ bool AP_GPS_Backend::should_log() const
#endif


#if HAL_GCS_ENABLED
#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
{
const uint8_t instance = state.instance;
Expand Down Expand Up @@ -212,7 +212,8 @@ void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
break;
}
}
#endif
#endif // AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED



/*
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2 changes: 2 additions & 0 deletions libraries/AP_GPS/GPS_Backend.h
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Expand Up @@ -71,7 +71,9 @@ class AP_GPS_Backend
#if HAL_GCS_ENABLED
//MAVLink methods
virtual bool supports_mavlink_gps_rtk_message() const { return false; }
#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
virtual void send_mavlink_gps_rtk(mavlink_channel_t chan);
#endif
virtual void handle_msg(const mavlink_message_t &msg) { return ; }
#endif

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26 changes: 17 additions & 9 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -1030,13 +1030,17 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_SCALED_PRESSURE, MSG_SCALED_PRESSURE},
{ MAVLINK_MSG_ID_SCALED_PRESSURE2, MSG_SCALED_PRESSURE2},
{ MAVLINK_MSG_ID_SCALED_PRESSURE3, MSG_SCALED_PRESSURE3},
#if AP_GPS_ENABLED
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
{ MAVLINK_MSG_ID_GPS_RAW_INT, MSG_GPS_RAW},
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
{ MAVLINK_MSG_ID_GPS_RTK, MSG_GPS_RTK},
#if GPS_MAX_RECEIVERS > 1
#endif
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
{ MAVLINK_MSG_ID_GPS2_RAW, MSG_GPS2_RAW},
{ MAVLINK_MSG_ID_GPS2_RTK, MSG_GPS2_RTK},
#endif
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
{ MAVLINK_MSG_ID_GPS2_RTK, MSG_GPS2_RTK},
#endif
{ MAVLINK_MSG_ID_SYSTEM_TIME, MSG_SYSTEM_TIME},
{ MAVLINK_MSG_ID_RC_CHANNELS_SCALED, MSG_SERVO_OUT},
Expand Down Expand Up @@ -6237,28 +6241,32 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time();
break;
#if AP_GPS_ENABLED

#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
AP::gps().send_mavlink_gps_raw(chan);
break;
#endif // AP_GPS_GPS_RAW_INT_SENDING_ENABLED
#if AP_GPS_GPS_RTK_SENDING_ENABLED
case MSG_GPS_RTK:
CHECK_PAYLOAD_SIZE(GPS_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 0);
break;
#if GPS_MAX_RECEIVERS > 1
#endif // AP_GPS_GPS_RTK_SENDING_ENABLED
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
case MSG_GPS2_RAW:
CHECK_PAYLOAD_SIZE(GPS2_RAW);
AP::gps().send_mavlink_gps2_raw(chan);
break;
#endif
#if GPS_MAX_RECEIVERS > 1
#endif // AP_GPS_GPS2_RAW_SENDING_ENABLED
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
case MSG_GPS2_RTK:
CHECK_PAYLOAD_SIZE(GPS2_RTK);
AP::gps().send_mavlink_gps_rtk(chan, 1);
break;
#endif
#endif // AP_GPS_ENABLED
#endif // AP_GPS_GPS2_RTK_SENDING_ENABLED

#if AP_AHRS_ENABLED
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
Expand Down
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