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ArduPlane: change rangefinder msg for common one

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This commit is contained in:
Pierre Kancir 2017-05-30 12:31:50 +02:00 committed by Francisco Ferreira
parent 9a121dc7c4
commit 0bc9d294fb
2 changed files with 1 additions and 14 deletions
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14
ArduPlane/GCS_Mavlink.cpp
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@ -414,18 +414,6 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
}
}
void Plane::send_rangefinder(mavlink_channel_t chan)
{
if (!rangefinder.has_data_orient(ROTATION_PITCH_270)) {
// no sonar to report
return;
}
mavlink_msg_rangefinder_send(
chan,
rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f,
rangefinder.voltage_mv_orient(ROTATION_PITCH_270) * 0.001f);
}
void Plane::send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
@ -597,7 +585,7 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
case MSG_RANGEFINDER:
CHECK_PAYLOAD_SIZE(RANGEFINDER);
plane.send_rangefinder(chan);
send_rangefinder(plane.rangefinder);
CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR);
send_distance_sensor_downward(plane.rangefinder);
break;

1
ArduPlane/Plane.h
View File

@ -814,7 +814,6 @@ private:
void send_wind(mavlink_channel_t chan);
void send_pid_tuning(mavlink_channel_t chan);
void send_rpm(mavlink_channel_t chan);
void send_rangefinder(mavlink_channel_t chan);
void send_current_waypoint(mavlink_channel_t chan);
void send_aoa_ssa(mavlink_channel_t chan);