AP_Airspeed: keep references to state and params in backend #29107
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There are probably a few more hundred bytes to be saved in the calibration stuff yet. |
Ryanf55
approved these changes
Jan 27, 2025
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This has a few key advantages, and this is a nice refactor to match other newer conventions in AP for drivers.
- the
airspeed_statestruct is now private - the
airspeed_statenow has an instance number raw_pressureis moved into the state struct to match where the rest of the data, such asraw_airspeedis at- Instead of the backend constructor taking na instance number, it now takes into account a reference to the state AND params - this makes the access to parameters cleaner, going from
frontend.param[instance].pintoparams.pin - A few airspeed drivers now get to rely on the default backend constructor, reducing flash.
- The frontend was able to remove functions such as
get_pressure
tridge
requested changes
Jan 28, 2025
| @@ -30,12 +30,15 @@ | |||
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| class AP_Airspeed_Backend { | |||
| public: | |||
| AP_Airspeed_Backend(AP_Airspeed &frontend, uint8_t instance); | |||
| AP_Airspeed_Backend(AP_Airspeed &frontend, class AP_Airspeed::airspeed_state &state, class AP_Airspeed_Params ¶ms); | |||
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we don't need the constructor changes at all I think, backend has access to the state and params
| @@ -605,69 +598,62 @@ AP_Airspeed::CalibrationState AP_Airspeed::get_calibration_state() const | |||
| } | |||
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| // read one airspeed sensor | |||
| void AP_Airspeed::read(uint8_t i) | |||
| void AP_Airspeed_Backend::update() | |||
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i'm not a fan of moving the update to the backend class, it means the backend class is dealing with calibration, offsets, limits etc, which I don't think should be part of the backend
... much as we do for GPS, rangefinder and several other libraries
updating healthy magically in here makes logic difficult to follow
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... much as we do for GPS, rangefinder and several other libraries