AP_ADSB: adjust MAVLink backend to use Loc _my_loc

ArduPilot · Nov 3, 2023 · f60a187 · f60a187
1 parent ee10c1f
commit f60a187
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Showing 3 changed files with 19 additions and 9 deletions.
diff --git a/libraries/AP_ADSB/AP_ADSB.cpp b/libraries/AP_ADSB/AP_ADSB.cpp
@@ -360,6 +360,13 @@ void AP_ADSB::update(void)
 
     loc.vertRateD_is_valid = AP::ahrs().get_vert_pos_rate_D(loc.vertRateD);
 
+    const auto &baro = AP::baro();
+    loc.baro_is_healthy = baro.healthy();
+
+    // Altitude difference between sea level pressure and current
+    // pressure (in metres)
+    loc.baro_alt_press_diff_sea_level = baro.get_altitude_difference(SSL_AIR_PRESSURE, baro.get_pressure());
+
     update(loc);
 }
 #endif  // AP_GPS_ENABLED && AP_AHRS_ENABLED

diff --git a/libraries/AP_ADSB/AP_ADSB.h b/libraries/AP_ADSB/AP_ADSB.h
@@ -133,6 +133,11 @@ class AP_ADSB {
             velocity = vertRateD;
             return vertRateD_is_valid;
         }
+
+        // data from a pressure sensor:
+        bool baro_is_healthy;
+        float baro_alt_press_diff_sea_level;
+
     } _my_loc;
 
     // periodic task that maintains vehicle_list

diff --git a/libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp b/libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp
@@ -19,9 +19,6 @@
 #include <stdio.h>  // for sprintf
 #include <limits.h>
 #include <GCS_MAVLink/GCS.h>
-#include <AP_GPS/AP_GPS.h>
-#include <AP_Baro/AP_Baro.h>
-#include <AP_AHRS/AP_AHRS.h>
 
 #define ADSB_CHAN_TIMEOUT_MS            15000
 
@@ -63,7 +60,9 @@ void AP_ADSB_uAvionix_MAVLink::update()
 
 void AP_ADSB_uAvionix_MAVLink::send_dynamic_out(const mavlink_channel_t chan) const
 {
-    const AP_GPS &gps = AP::gps();
+    const auto &_my_loc = _frontend._my_loc;
+    const auto &gps = _my_loc;  // avoid churn
+
     const Vector3f &gps_velocity = gps.velocity();
 
     const int32_t latitude = _frontend._my_loc.lat;
@@ -72,7 +71,7 @@ void AP_ADSB_uAvionix_MAVLink::send_dynamic_out(const mavlink_channel_t chan) co
     const int16_t velVert = -1.0f * gps_velocity.z * 1E2; // convert m/s to cm/s
     const int16_t nsVog = gps_velocity.x * 1E2; // convert m/s to cm/s
     const int16_t ewVog = gps_velocity.y * 1E2; // convert m/s to cm/s
-    const uint8_t fixType = gps.status(); // this lines up perfectly with our enum
+    const AP_GPS_FixType fixType = gps.status(); // this lines up perfectly with our enum
     const uint8_t emStatus = 0; // TODO: implement this ENUM. no emergency = 0
     const uint8_t numSats = gps.num_sats();
     const uint16_t squawk = _frontend.out_state.cfg.squawk_octal;
@@ -107,11 +106,10 @@ void AP_ADSB_uAvionix_MAVLink::send_dynamic_out(const mavlink_channel_t chan) co
     const uint64_t gps_time = gps.time_epoch_usec();
     const uint32_t utcTime = gps_time / 1000000ULL;
 
-    const AP_Baro &baro = AP::baro();
     int32_t altPres = INT_MAX;
-    if (baro.healthy()) {
+    if (_my_loc.baro_is_healthy) {
         // Altitude difference between sea level pressure and current pressure. Result in millimeters
-        altPres = baro.get_altitude_difference(SSL_AIR_PRESSURE, baro.get_pressure()) * 1E3; // convert m to mm;
+        altPres = _my_loc.baro_alt_press_diff_sea_level * 1E3; // convert m to mm;
     }
 
 
@@ -122,7 +120,7 @@ void AP_ADSB_uAvionix_MAVLink::send_dynamic_out(const mavlink_channel_t chan) co
             latitude,
             longitude,
             altGNSS,
-            fixType,
+            uint8_t(fixType),
             numSats,
             altPres,
             accHoriz,