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Plane: eliminate global static GCS_MAVLINK::send_home_all

This commit is contained in:
Peter Barker 2017-07-08 14:46:24 +10:00 committed by Francisco Ferreira
parent a4d167affe
commit 1be52495f1
4 changed files with 8 additions and 5 deletions
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4
ArduPlane/GCS_Mavlink.cpp
View File

@ -1462,7 +1462,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
plane.ahrs.set_home(new_home_loc);
plane.home_is_set = HOME_SET_NOT_LOCKED;
plane.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
gcs().send_home(new_home_loc);
result = MAV_RESULT_ACCEPTED;
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
@ -1953,7 +1953,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
plane.ahrs.set_home(new_home_loc);
plane.home_is_set = HOME_SET_NOT_LOCKED;
plane.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
gcs().send_home(new_home_loc);
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
(double)(new_home_loc.lng*1.0e-7f),

3
ArduPlane/GCS_Plane.h
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@ -17,6 +17,9 @@ public:
GCS_MAVLINK_Plane &chan(const uint8_t ofs) override {
return _chan[ofs];
};
const GCS_MAVLINK_Plane &chan(const uint8_t ofs) const override {
return _chan[ofs];
};
void send_airspeed_calibration(const Vector3f &vg);

4
ArduPlane/commands.cpp
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@ -109,7 +109,7 @@ void Plane::init_home()
ahrs.set_home(gps.location());
home_is_set = HOME_SET_NOT_LOCKED;
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location());
gcs().send_home(gps.location());
// Save Home to EEPROM
mission.write_home_to_storage();
@ -138,7 +138,7 @@ void Plane::update_home()
if(ahrs.get_position(loc)) {
ahrs.set_home(loc);
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(loc);
gcs().send_home(loc);
}
}
barometer.update_calibration();

2
ArduPlane/commands_logic.cpp
View File

@ -905,7 +905,7 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
ahrs.set_home(cmd.content.location);
home_is_set = HOME_SET_NOT_LOCKED;
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(cmd.content.location);
gcs().send_home(cmd.content.location);
}
}