AP_Periph: add backwards compatibility to GPS_TYPE parameter for auto config

Author: bugobliterator

AP_Periph/AP_Periph.cpp

@@ -208,6 +208,10 @@ void AP_Periph_FW::init()
         }
     }
 
+    float value;
+    AP_Param::get("GPS1_TYPE", value);
+    AP_Param::set_and_save_by_name("GPS_TYPE", value);
+
 #if AP_SCRIPTING_ENABLED
     scripting.init();
 #endif

AP_Periph/Parameters.cpp

@@ -33,6 +33,7 @@ extern const AP_HAL::HAL &hal;
 #define MAV_SYSTEM_ID HAL_DEFAULT_MAV_SYSTEM_ID
 #endif
 
+#define GSCALAR_HIDDEN(v, name, def)                { name, &AP_PARAM_VEHICLE_NAME.g.v,                   {def_value : def},                   AP_PARAM_FLAG_HIDDEN,                                                  Parameters::k_param_ ## v,          AP_PARAM_VEHICLE_NAME.g.v.vtype }
 /*
  *  AP_Periph parameter definitions
  *
@@ -100,6 +101,11 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     // @Path: ../libraries/AP_GPS/AP_GPS.cpp
     GOBJECT(gps, "GPS", AP_GPS),
 
+    // GPS TYPE
+    // @Param: GPS_TYPE
+    // @DisplayName: GPS Type
+    // @Description: GPS Type
+    GSCALAR_HIDDEN(gps_type, "GPS_TYPE", 0),
 
 #ifdef HAL_PERIPH_ENABLE_MAG
     // @Group: COMPASS_

AP_Periph/Parameters.h

@@ -59,6 +59,7 @@ class Parameters {
         k_param_imu,
         k_param_gps_safeboot,
         k_param_gps_rover,
+        k_param_gps_type
     };
 
     AP_Int16 format_version;
@@ -105,6 +106,7 @@ class Parameters {
     AP_Int8 gps_mb_only_can_port;
     AP_Int16 imu_sample_rate;
     AP_Int8 gps_safeboot;
+    AP_Int8 gps_type;
     Parameters() {}
 };
 

AP_Periph/can.cpp

@@ -190,8 +190,8 @@ void AP_Periph_DroneCAN::handle_param_getset(const CanardRxTransfer& transfer, c
 
     uavcan_protocol_param_GetSetResponse pkt {};
 
-    AP_Param *vp;
-    enum ap_var_type ptype;
+    AP_Param *vp, *gps_type_vp;
+    enum ap_var_type ptype, gps_type_ptype;
 
     if (req.name.len != 0 && req.name.len > AP_MAX_NAME_SIZE) {
         vp = nullptr;
@@ -205,6 +205,11 @@ void AP_Periph_DroneCAN::handle_param_getset(const CanardRxTransfer& transfer, c
             vp->copy_name_token(token, (char *)pkt.name.data, AP_MAX_NAME_SIZE+1, true);
         }
     }
+    if ((req.name.len >= 8) && (strncmp((char* )req.name.data, "GPS_TYPE", 8) == 0) && (req.value.union_tag == UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE)) {
+        // set GPS1_TYPE as well
+        gps_type_vp = AP_Param::find("GPS1_TYPE", &gps_type_ptype);
+        ((AP_Int8*)gps_type_vp)->set_and_save_ifchanged(req.value.integer_value);
+    }
     if (vp != nullptr && req.name.len != 0 && req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_EMPTY) {
         // param set
         switch (ptype) {