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Rover: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK

This commit is contained in:
Peter Barker 2018-05-01 22:04:37 +10:00 committed by Francisco Ferreira
parent 4440f7ec4a
commit 1ecd371cd0
2 changed files with 0 additions and 24 deletions
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23
APMrover2/GCS_Mavlink.cpp
View File

@ -101,24 +101,6 @@ void Rover::send_extended_status1(mavlink_channel_t chan)
0, 0, 0, 0);
}
void Rover::send_location(mavlink_channel_t chan)
{
const uint32_t now = AP_HAL::millis();
Vector3f vel;
ahrs.get_velocity_NED(vel);
mavlink_msg_global_position_int_send(
chan,
now,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
current_loc.alt * 10UL, // millimeters above sea level
(current_loc.alt - home.alt) * 10, // millimeters above home
vel.x * 100, // X speed cm/s (+ve North)
vel.y * 100, // Y speed cm/s (+ve East)
vel.z * 100, // Z speed cm/s (+ve Down)
ahrs.yaw_sensor);
}
void Rover::send_nav_controller_output(mavlink_channel_t chan)
{
mavlink_msg_nav_controller_output_send(
@ -298,11 +280,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
}
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
rover.send_location(chan);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
if (rover.control_mode->is_autopilot_mode()) {
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);

1
APMrover2/Rover.h
View File

@ -464,7 +464,6 @@ private:
// GCS_Mavlink.cpp
void send_extended_status1(mavlink_channel_t chan);
void send_location(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
void send_servo_out(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);