mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Leonard Hall
195c024c56
RGPK carries the moving baseline yaw antenna offset, which Replay needs only to reproduce the EKF3 attitude correction of that yaw. Add AP_DAL_RGPK_LOGGING_ENABLED and gate the message ID, the structure, the per-instance state and the write on it. This also removes the runtime flag start_frame() took to decide whether to fetch the offset. The flag kept AP_GPS::get_mb_yaw_offset() referenced, so the accessor and the RGPK write were linked into every build whether or not any consumer applied the correction.
80 lines
2.7 KiB
C++
80 lines
2.7 KiB
C++
#include "AP_DAL_GPS.h"
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#include <AP_Logger/AP_Logger.h>
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#include "AP_DAL.h"
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AP_DAL_GPS::AP_DAL_GPS()
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{
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for (uint8_t i=0; i<ARRAY_SIZE(_RGPI); i++) {
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_RGPI[i].instance = i;
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_RGPJ[i].instance = i;
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#if AP_DAL_RGPK_LOGGING_ENABLED
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// _RGPK defaults to a zero offset so replay of older logs with no
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// RGPK messages applies no moving baseline yaw correction
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_RGPK[i].instance = i;
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#endif
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}
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}
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void AP_DAL_GPS::start_frame()
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{
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const auto &gps = AP::gps();
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const log_RGPH old_RGPH = _RGPH;
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_RGPH.primary_sensor = gps.primary_sensor();
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_RGPH.num_sensors = gps.num_sensors();
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WRITE_REPLAY_BLOCK_IFCHANGED(RGPH, _RGPH, old_RGPH);
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for (uint8_t i=0; i<ARRAY_SIZE(_RGPI); i++) {
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log_RGPI &RGPI = _RGPI[i];
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log_RGPJ &RGPJ = _RGPJ[i];
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const log_RGPI old_RGPI = RGPI;
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const log_RGPJ old_RGPJ = RGPJ;
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RGPI.status = (uint8_t)gps.status(i);
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RGPI.antenna_offset = gps.get_antenna_offset(i);
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const Location &loc = gps.location(i);
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RGPJ.last_message_time_ms = gps.last_message_time_ms(i);
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RGPJ.lat = loc.lat;
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RGPJ.lng = loc.lng;
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RGPJ.alt = loc.alt;
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RGPI.have_vertical_velocity = gps.have_vertical_velocity(i);
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RGPI.horizontal_accuracy_returncode = gps.horizontal_accuracy(i, RGPJ.hacc);
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RGPI.vertical_accuracy_returncode = gps.vertical_accuracy(i, RGPJ.vacc);
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RGPJ.hdop = gps.get_hdop(i);
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RGPI.num_sats = gps.num_sats(i);
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RGPI.get_lag_returncode = gps.get_lag(i, RGPI.lag_sec);
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RGPJ.velocity = gps.velocity(i);
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RGPI.speed_accuracy_returncode = gps.speed_accuracy(i, RGPJ.sacc);
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RGPI.gps_yaw_deg_returncode = gps.gps_yaw_deg(i, RGPJ.yaw_deg, RGPJ.yaw_accuracy_deg, RGPJ.yaw_deg_time_ms);
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#if AP_DAL_RGPK_LOGGING_ENABLED
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// RGPK holds the body-frame antenna offset used to calculate gps_yaw.
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// The offset is derived from parameters but is zeroed while gps_yaw is
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// not calculated from a moving baseline, so it tracks the active yaw
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// source and yaw validity as well as parameter changes. All of these
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// change rarely, so the message is only written when changed
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log_RGPK &RGPK = _RGPK[i];
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const log_RGPK old_RGPK = RGPK;
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RGPK.mb_yaw_offset = gps.get_mb_yaw_offset(i);
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#endif
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WRITE_REPLAY_BLOCK_IFCHANGED(RGPI, RGPI, old_RGPI);
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WRITE_REPLAY_BLOCK_IFCHANGED(RGPJ, RGPJ, old_RGPJ);
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#if AP_DAL_RGPK_LOGGING_ENABLED
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WRITE_REPLAY_BLOCK_IFCHANGED(RGPK, RGPK, old_RGPK);
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#endif
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tmp_location[i] = {
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RGPJ.lat,
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RGPJ.lng,
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RGPJ.alt,
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Location::AltFrame::ABSOLUTE
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};
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}
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}
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