Line data    Source code

       1             : #include "AP_DAL_Airspeed.h"
       2             : #include "AP_DAL.h"
       3             : 
       4             : #include <AP_Logger/AP_Logger.h>
       5             : 
       6         691 : AP_DAL_Airspeed::AP_DAL_Airspeed()
       7             : {
       8             : #if AP_AIRSPEED_ENABLED
       9        2073 :     for (uint8_t i=0; i<ARRAY_SIZE(_RASI); i++) {
      10        1382 :         _RASI[i].instance = i;
      11             :     }
      12             : #endif
      13         691 : }
      14             : 
      15     8609553 : void AP_DAL_Airspeed::start_frame()
      16             : {
      17             : #if AP_AIRSPEED_ENABLED
      18     8609553 :     const auto *airspeed = AP::airspeed();
      19     8609553 :     if (airspeed == nullptr) {
      20           0 :         return;
      21             :     }
      22             : 
      23     8609553 :     const log_RASH old = _RASH;
      24     8609553 :     _RASH.num_sensors = airspeed->get_num_sensors();
      25     8609553 :     _RASH.primary = airspeed->get_primary();
      26     8609553 :     WRITE_REPLAY_BLOCK_IFCHANGED(RASH, _RASH, old);
      27             : 
      28    25828659 :     for (uint8_t i=0; i<ARRAY_SIZE(_RASI); i++) {
      29    17219106 :         log_RASI &RASI = _RASI[i];
      30    17219106 :         log_RASI old_RASI = RASI;
      31    17219106 :         RASI.last_update_ms = airspeed->last_update_ms(i);
      32    17219106 :         RASI.healthy = airspeed->healthy(i);
      33    17219106 :         RASI.use = airspeed->use(i);
      34    17219106 :         RASI.airspeed = airspeed->get_airspeed(i);
      35    17219106 :         WRITE_REPLAY_BLOCK_IFCHANGED(RASI, RASI, old_RASI);
      36             :     }
      37             : #endif
      38             : }