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AP_AccelCal: remove wrapper around send_text

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With our statustext queueing system this check is not just wrong but
redundant.
This commit is contained in:
Peter Barker 2019-07-26 11:05:49 +10:00 committed by Andrew Tridgell
parent 00cc4ace8a
commit 11b9737b34
2 changed files with 7 additions and 26 deletions
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32
libraries/AP_AccelCal/AP_AccelCal.cpp
View File

@ -19,6 +19,13 @@
#define AP_ACCELCAL_POSITION_REQUEST_INTERVAL_MS 1000 #define AP_ACCELCAL_POSITION_REQUEST_INTERVAL_MS 1000
#define _printf(fmt, args ...) do { \
if (_gcs != nullptr) { \
_gcs->send_text(MAV_SEVERITY_CRITICAL, fmt, ## args); \
} \
} while (0)
const extern AP_HAL::HAL& hal; const extern AP_HAL::HAL& hal;
static bool _start_collect_sample; static bool _start_collect_sample;
@ -375,28 +382,3 @@ bool AP_AccelCal::gcs_vehicle_position(float position)
return false; return false;
} }
void AP_AccelCal::_printf(const char* fmt, ...)
{
if (!_gcs) {
return;
}
char msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
va_list ap;
va_start(ap, fmt);
hal.util->vsnprintf(msg, sizeof(msg), fmt, ap);
va_end(ap);
AP_HAL::UARTDriver *uart = _gcs->get_uart();
/*
* to ensure these messages get to the user we need to wait for the
* port send buffer to have enough room
*/
while (uart->txspace() < MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_STATUSTEXT_LEN) {
hal.scheduler->delay(1);
}
#if !APM_BUILD_TYPE(APM_BUILD_Replay)
_gcs->send_text(MAV_SEVERITY_CRITICAL, "%s", msg);
#endif
}

1
libraries/AP_AccelCal/AP_AccelCal.h
View File

@ -74,7 +74,6 @@ private:
uint8_t _num_active_calibrators; uint8_t _num_active_calibrators;
AccelCalibrator* get_calibrator(uint8_t i); AccelCalibrator* get_calibrator(uint8_t i);
void _printf(const char*, ...);
}; };
class AP_AccelCal_Client { class AP_AccelCal_Client {