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AntennaTracker: cleanup unnecessarily complex gcs[] usage

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This commit is contained in:
Andrew Tridgell 2016-05-17 08:27:01 +10:00
parent fa6f2c6b67
commit 23197b0689
1 changed files with 10 additions and 10 deletions
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20
AntennaTracker/GCS_Mavlink.cpp
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@ -168,7 +168,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
switch (id) { switch (id) {
case MSG_HEARTBEAT: case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT); CHECK_PAYLOAD_SIZE(HEARTBEAT);
tracker.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = AP_HAL::millis(); last_heartbeat_time = AP_HAL::millis();
tracker.send_heartbeat(chan); tracker.send_heartbeat(chan);
return true; return true;
@ -194,12 +194,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_GPS_RAW: case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT); CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
tracker.gcs[chan-MAVLINK_COMM_0].send_gps_raw(tracker.gps); send_gps_raw(tracker.gps);
break; break;
case MSG_RADIO_IN: case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW); CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
tracker.gcs[chan-MAVLINK_COMM_0].send_radio_in(0); send_radio_in(0);
break; break;
case MSG_RADIO_OUT: case MSG_RADIO_OUT:
@ -209,22 +209,22 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_RAW_IMU1: case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU); CHECK_PAYLOAD_SIZE(RAW_IMU);
tracker.gcs[chan-MAVLINK_COMM_0].send_raw_imu(tracker.ins, tracker.compass); send_raw_imu(tracker.ins, tracker.compass);
break; break;
case MSG_RAW_IMU2: case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE); CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
tracker.gcs[chan-MAVLINK_COMM_0].send_scaled_pressure(tracker.barometer); send_scaled_pressure(tracker.barometer);
break; break;
case MSG_RAW_IMU3: case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS); CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
tracker.gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(tracker.ins, tracker.compass, tracker.barometer); send_sensor_offsets(tracker.ins, tracker.compass, tracker.barometer);
break; break;
case MSG_NEXT_PARAM: case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE); CHECK_PAYLOAD_SIZE(PARAM_VALUE);
tracker.gcs[chan-MAVLINK_COMM_0].queued_param_send(); queued_param_send();
break; break;
case MSG_NEXT_WAYPOINT: case MSG_NEXT_WAYPOINT:
@ -238,7 +238,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_AHRS: case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS); CHECK_PAYLOAD_SIZE(AHRS);
tracker.gcs[chan-MAVLINK_COMM_0].send_ahrs(tracker.ahrs); send_ahrs(tracker.ahrs);
break; break;
case MSG_SIMSTATE: case MSG_SIMSTATE:
@ -695,7 +695,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: { case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION); send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
break; break;
@ -883,7 +883,7 @@ mission_failed:
break; break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION); send_autopilot_version(FIRMWARE_VERSION);
break; break;
} // end switch } // end switch