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Sub: move sending of fence_status message up

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Peter Barker 2019-01-31 13:11:23 +11:00 committed by Randy Mackay
parent 1412921561
commit 05c9ded9fc
3 changed files with 0 additions and 31 deletions
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7
ArduSub/GCS_Mavlink.cpp
View File

@ -428,13 +428,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
#endif #endif
break; break;
case MSG_FENCE_STATUS:
#if AC_FENCE == ENABLED
CHECK_PAYLOAD_SIZE(FENCE_STATUS);
sub.fence_send_mavlink_status(chan);
#endif
break;
case MSG_PID_TUNING: case MSG_PID_TUNING:
CHECK_PAYLOAD_SIZE(PID_TUNING); CHECK_PAYLOAD_SIZE(PID_TUNING);
sub.send_pid_tuning(chan); sub.send_pid_tuning(chan);

1
ArduSub/Sub.h
View File

@ -579,7 +579,6 @@ private:
void mainloop_failsafe_enable(); void mainloop_failsafe_enable();
void mainloop_failsafe_disable(); void mainloop_failsafe_disable();
void fence_check(); void fence_check();
void fence_send_mavlink_status(mavlink_channel_t chan);
bool set_mode(control_mode_t mode, mode_reason_t reason); bool set_mode(control_mode_t mode, mode_reason_t reason);
void update_flight_mode(); void update_flight_mode();
void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode); void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode);

23
ArduSub/fence.cpp
View File

@ -49,27 +49,4 @@ void Sub::fence_check()
} }
} }
// fence_send_mavlink_status - send fence status to ground station
void Sub::fence_send_mavlink_status(mavlink_channel_t chan)
{
if (fence.enabled()) {
// traslate fence library breach types to mavlink breach types
uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
uint8_t breaches = fence.get_breaches();
if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
mavlink_breach_type = FENCE_BREACH_MAXALT;
}
if ((breaches & AC_FENCE_TYPE_CIRCLE) != 0) {
mavlink_breach_type = FENCE_BREACH_BOUNDARY;
}
// send status
mavlink_msg_fence_status_send(chan,
(int8_t)(fence.get_breaches()!=0),
fence.get_breach_count(),
mavlink_breach_type,
fence.get_breach_time());
}
}
#endif #endif