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Sub: move sending of vfr_hud up

This commit is contained in:
Peter Barker 2018-01-31 13:59:06 +11:00 committed by Andrew Tridgell
parent 9d83ee8cc7
commit 18c494b25f
3 changed files with 6 additions and 15 deletions
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16
ArduSub/GCS_Mavlink.cpp
View File

@ -251,16 +251,9 @@ void NOINLINE Sub::send_nav_controller_output(mavlink_channel_t chan)
0); 0);
} }
void NOINLINE Sub::send_vfr_hud(mavlink_channel_t chan) int16_t GCS_MAVLINK_Sub::vfr_hud_throttle() const
{ {
mavlink_msg_vfr_hud_send( return (int16_t)(sub.motors.get_throttle() * 100);
chan,
gps.ground_speed(),
gps.ground_speed(),
(ahrs.yaw_sensor / 100) % 360,
(int16_t)(motors.get_throttle() * 100),
current_loc.alt / 100.0f,
climb_rate / 100.0f);
} }
/* /*
@ -427,11 +420,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
sub.send_nav_controller_output(chan); sub.send_nav_controller_output(chan);
break; break;
case MSG_VFR_HUD:
CHECK_PAYLOAD_SIZE(VFR_HUD);
sub.send_vfr_hud(chan);
break;
case MSG_RPM: case MSG_RPM:
#if RPM_ENABLED == ENABLED #if RPM_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RPM); CHECK_PAYLOAD_SIZE(RPM);

4
ArduSub/GCS_Mavlink.h
View File

@ -46,4 +46,8 @@ private:
MAV_MODE base_mode() const override; MAV_MODE base_mode() const override;
uint32_t custom_mode() const override; uint32_t custom_mode() const override;
MAV_STATE system_status() const override; MAV_STATE system_status() const override;
int16_t vfr_hud_throttle() const override;
bool vfr_hud_make_alt_relative() const override { return true; }
}; };

1
ArduSub/Sub.h
View File

@ -476,7 +476,6 @@ private:
void send_heartbeat(mavlink_channel_t chan); void send_heartbeat(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan); void send_extended_status1(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan); void send_nav_controller_output(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);
#if RPM_ENABLED == ENABLED #if RPM_ENABLED == ENABLED
void send_rpm(mavlink_channel_t chan); void send_rpm(mavlink_channel_t chan);
void rpm_update(); void rpm_update();