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Sub: use AP::ahrs() for GCS_MAVLink

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Peter Barker 2018-01-06 14:53:55 +11:00 committed by Francisco Ferreira
parent 0d04e916a1
commit 15f212adc0
1 changed files with 2 additions and 12 deletions
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14
ArduSub/GCS_Mavlink.cpp
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@ -517,11 +517,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
sub.send_location(chan); sub.send_location(chan);
break; break;
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
send_local_position(sub.ahrs);
break;
case MSG_NAV_CONTROLLER_OUTPUT: case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT); CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
sub.send_nav_controller_output(chan); sub.send_nav_controller_output(chan);
@ -588,18 +583,13 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
#endif #endif
break; break;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(sub.ahrs);
break;
case MSG_SIMSTATE: case MSG_SIMSTATE:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
CHECK_PAYLOAD_SIZE(SIMSTATE); CHECK_PAYLOAD_SIZE(SIMSTATE);
sub.send_simstate(chan); sub.send_simstate(chan);
#endif #endif
CHECK_PAYLOAD_SIZE(AHRS2); CHECK_PAYLOAD_SIZE(AHRS2);
send_ahrs2(sub.ahrs); send_ahrs2();
break; break;
case MSG_MOUNT_STATUS: case MSG_MOUNT_STATUS:
@ -617,7 +607,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
case MSG_OPTICAL_FLOW: case MSG_OPTICAL_FLOW:
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW); CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
send_opticalflow(sub.ahrs, sub.optflow); send_opticalflow(sub.optflow);
#endif #endif
break; break;