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Tracker: move try_send_message of nav_controller_output up

This commit is contained in:
Peter Barker 2019-02-18 11:24:23 +11:00 committed by Andrew Tridgell
parent 5690a0ea4a
commit 0519949e21
2 changed files with 8 additions and 24 deletions
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29
AntennaTracker/GCS_Mavlink.cpp
View File

@ -82,17 +82,17 @@ void GCS_MAVLINK_Tracker::get_sensor_status_flags(uint32_t &present,
health = tracker.control_sensors_health;
}
void Tracker::send_nav_controller_output(mavlink_channel_t chan)
void GCS_MAVLINK_Tracker::send_nav_controller_output() const
{
float alt_diff = (g.alt_source == ALT_SOURCE_BARO) ? nav_status.alt_difference_baro : nav_status.alt_difference_gps;
float alt_diff = (tracker.g.alt_source == ALT_SOURCE_BARO) ? tracker.nav_status.alt_difference_baro : tracker.nav_status.alt_difference_gps;
mavlink_msg_nav_controller_output_send(
chan,
0,
nav_status.pitch,
nav_status.bearing,
nav_status.bearing,
MIN(nav_status.distance, UINT16_MAX),
tracker.nav_status.pitch,
tracker.nav_status.bearing,
tracker.nav_status.bearing,
MIN(tracker.nav_status.distance, UINT16_MAX),
alt_diff,
0,
0);
@ -110,23 +110,6 @@ void GCS_MAVLINK_Tracker::handle_change_alt_request(AP_Mission::Mission_Command&
// do nothing
}
// try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
{
switch (id) {
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
tracker.send_nav_controller_output(chan);
break;
default:
return GCS_MAVLINK::try_send_message(id);
}
return true;
}
/*
default stream rates to 1Hz
*/

3
AntennaTracker/GCS_Mavlink.h
View File

@ -31,6 +31,8 @@ protected:
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED { return false; }
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED { return false; }
void send_nav_controller_output() const override;
private:
void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
@ -38,7 +40,6 @@ private:
void handleMessage(mavlink_message_t * msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;
MAV_TYPE frame_type() const override;
MAV_MODE base_mode() const override;