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GCS_MAVLink: Don't rely on instance data from rangefinders

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Michael du Breuil 2018-05-08 23:46:35 -07:00 committed by Francisco Ferreira
parent 0be12dd471
commit 03fc653e62
2 changed files with 3 additions and 13 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -168,7 +168,6 @@ public:
bool send_battery_status() const; bool send_battery_status() const;
void send_distance_sensor(const AP_RangeFinder_Backend *sensor) const; void send_distance_sensor(const AP_RangeFinder_Backend *sensor) const;
bool send_distance_sensor(const RangeFinder &rangefinder) const; bool send_distance_sensor(const RangeFinder &rangefinder) const;
void send_distance_sensor_downward(const RangeFinder &rangefinder) const;
void send_rangefinder_downward(const RangeFinder &rangefinder) const; void send_rangefinder_downward(const RangeFinder &rangefinder) const;
bool send_proximity(const AP_Proximity &proximity) const; bool send_proximity(const AP_Proximity &proximity) const;
void send_ahrs2(); void send_ahrs2();

15
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -221,7 +221,7 @@ bool GCS_MAVLINK::send_battery_status() const
return true; return true;
} }
void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor) const void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const
{ {
if (sensor == nullptr) { if (sensor == nullptr) {
// should not happen // should not happen
@ -238,7 +238,7 @@ void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor) con
sensor->max_distance_cm(), // maximum distance the sensor can measure in centimeters sensor->max_distance_cm(), // maximum distance the sensor can measure in centimeters
sensor->distance_cm(), // current distance reading sensor->distance_cm(), // current distance reading
sensor->get_mav_distance_sensor_type(), // type from MAV_DISTANCE_SENSOR enum sensor->get_mav_distance_sensor_type(), // type from MAV_DISTANCE_SENSOR enum
sensor->instance(), // onboard ID of the sensor == instance instance, // onboard ID of the sensor == instance
sensor->orientation(), // direction the sensor faces from MAV_SENSOR_ORIENTATION enum sensor->orientation(), // direction the sensor faces from MAV_SENSOR_ORIENTATION enum
0); // Measurement covariance in centimeters, 0 for unknown / invalid readings 0); // Measurement covariance in centimeters, 0 for unknown / invalid readings
} }
@ -251,20 +251,11 @@ bool GCS_MAVLINK::send_distance_sensor(const RangeFinder &rangefinder) const
if (sensor == nullptr) { if (sensor == nullptr) {
continue; continue;
} }
send_distance_sensor(sensor); send_distance_sensor(sensor, i);
} }
return true; return true;
} }
void GCS_MAVLINK::send_distance_sensor_downward(const RangeFinder &rangefinder) const
{
AP_RangeFinder_Backend *s = rangefinder.find_instance(ROTATION_PITCH_270);
if (s == nullptr) {
return;
}
send_distance_sensor(s);
}
void GCS_MAVLINK::send_rangefinder_downward(const RangeFinder &rangefinder) const void GCS_MAVLINK::send_rangefinder_downward(const RangeFinder &rangefinder) const
{ {
AP_RangeFinder_Backend *s = rangefinder.find_instance(ROTATION_PITCH_270); AP_RangeFinder_Backend *s = rangefinder.find_instance(ROTATION_PITCH_270);