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Tracker: move sending of send_pid_tuning up

This commit is contained in:
Peter Barker 2019-03-01 10:32:16 +11:00 committed by Andrew Tridgell
parent 1debd88083
commit 166f246744
3 changed files with 3 additions and 19 deletions
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20
AntennaTracker/GCS_Mavlink.cpp
View File

@ -92,8 +92,9 @@ void GCS_MAVLINK_Tracker::send_nav_controller_output() const
/*
send PID tuning message
*/
void Tracker::send_pid_tuning(mavlink_channel_t chan)
void GCS_MAVLINK_Tracker::send_pid_tuning()
{
const Parameters &g = tracker.g;
// Pitch PID
if (g.gcs_pid_mask & 1) {
@ -139,23 +140,6 @@ 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_PID_TUNING:
CHECK_PAYLOAD_SIZE(PID_TUNING);
tracker.send_pid_tuning(chan);
break;
default:
return GCS_MAVLINK::try_send_message(id);
}
return true;
}
/*
default stream rates to 1Hz
*/

1
AntennaTracker/GCS_Mavlink.h
View File

@ -33,6 +33,7 @@ protected:
uint64_t capabilities() const override;
void send_nav_controller_output() const override;
void send_pid_tuning() override;
private:

1
AntennaTracker/Tracker.h
View File

@ -227,7 +227,6 @@ private:
// GCS_Mavlink.cpp
void send_nav_controller_output(mavlink_channel_t chan);
void send_pid_tuning(mavlink_channel_t chan);
// Log.cpp
void Log_Write_Attitude();