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Tidy use of backend type in AP_GPS #26480

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merged 3 commits into from
Mar 11, 2024
Merged

Tidy use of backend type in AP_GPS #26480

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e506a62
AP_GPS: avoid use of _type
peterbarker Mar 11, 2024
7ed25f7
AP_GPS: remove redundant check
peterbarker Mar 11, 2024
d709b16
AP_GPS: create convenience methods is_rtk_base and is_rtk_rover
peterbarker Mar 11, 2024
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AP_GPS: remove redundant check 
get_type has this sanity check
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@peterbarker
peterbarker committed Mar 11, 2024
commit 7ed25f778f8a4852d636509a6facaae063348484
2 changes: 1 addition & 1 deletion libraries/AP_GPS/AP_GPS.cpp
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Expand Up @@ -2418,7 +2418,7 @@ bool AP_GPS::gps_yaw_deg(uint8_t instance, float &yaw_deg, float &accuracy_deg,
{
#if GPS_MAX_RECEIVERS > 1
const auto type = get_type(instance);
if (instance < GPS_MAX_RECEIVERS &&
if (
((type == GPS_TYPE_UBLOX_RTK_BASE) || (type == GPS_TYPE_UAVCAN_RTK_BASE)) &&
((get_type(instance^1) == GPS_TYPE_UBLOX_RTK_ROVER) || (get_type(instance^1) == GPS_TYPE_UAVCAN_RTK_ROVER))) {
// return the yaw from the rover
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