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AP_Periph: fix notify vehicle_state bit-length bug #31082

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Merged
merged 2 commits into from
Sep 29, 2025
Merged

AP_Periph: fix notify vehicle_state bit-length bug #31082

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6706f9c
AP_Periph: fix notify vehicle_state bit-length bug
magicrub Sep 13, 2025
de15391
AP_Scripting: fix periph:get_vehicle_state to be 64 bit
magicrub Sep 23, 2025
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6 changes: 3 additions & 3 deletions Tools/AP_Periph/AP_Periph.h
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Original file line number Diff line number Diff line change
Expand Up @@ -417,15 +417,15 @@ class AP_Periph_FW {
AP_Notify notify;
uint64_t vehicle_state = 1; // default to initialisation
float yaw_earth;
uint32_t last_vehicle_state;
uint32_t last_vehicle_state_ms;

// Handled under LUA script to control LEDs
float get_yaw_earth() { return yaw_earth; }
uint32_t get_vehicle_state() { return vehicle_state; }
uint64_t get_vehicle_state() { return vehicle_state; }
#elif defined(AP_SCRIPTING_ENABLED)
// create dummy methods for the case when the user doesn't want to use the notify object
float get_yaw_earth() { return 0.0; }
uint32_t get_vehicle_state() { return 0.0; }
uint64_t get_vehicle_state() { return 0; }
#endif

#if AP_SCRIPTING_ENABLED
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2 changes: 1 addition & 1 deletion Tools/AP_Periph/can.cpp
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Expand Up @@ -709,7 +709,7 @@ void AP_Periph_FW::handle_notify_state(CanardInstance* canard_instance, CanardRx
yaw_earth = radians((float)tmp * 0.01f);
}
vehicle_state = msg.vehicle_state;
last_vehicle_state = AP_HAL::millis();
last_vehicle_state_ms = AP_HAL::millis();
}
#endif // AP_PERIPH_NOTIFY_ENABLED

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2 changes: 1 addition & 1 deletion libraries/AP_Scripting/docs/docs.lua
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Expand Up @@ -1898,7 +1898,7 @@ function FWVersion:string() end
periph = {}

-- desc
---@return uint32_t_ud
---@return uint64_t_ud
function periph:get_vehicle_state() end

-- desc
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2 changes: 1 addition & 1 deletion libraries/AP_Scripting/generator/description/bindings.desc
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Expand Up @@ -763,7 +763,7 @@ include ../Tools/AP_Periph/AP_Periph.h depends defined(HAL_BUILD_AP_PERIPH)
singleton AP_Periph_FW depends defined(HAL_BUILD_AP_PERIPH)
singleton AP_Periph_FW rename periph
singleton AP_Periph_FW method get_yaw_earth float
singleton AP_Periph_FW method get_vehicle_state uint32_t
singleton AP_Periph_FW method get_vehicle_state uint64_t
singleton AP_Periph_FW method can_printf void "%s"'literal string
singleton AP_Periph_FW method reboot void boolean

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