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Rover: move gcs_out_of_time into GCS object

This commit is contained in:
Peter Barker 2017-08-21 12:32:34 +10:00 committed by Francisco Ferreira
parent b4e536b424
commit 25a32c93f2
2 changed files with 11 additions and 14 deletions
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22
APMrover2/GCS_Mavlink.cpp
View File

@ -278,7 +278,7 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
// wants to fire then don't send a mavlink message. We want to // wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications // prioritise the main flight control loop over communications
if (!rover.in_mavlink_delay && rover.scheduler.time_available_usec() < 1200) { if (!rover.in_mavlink_delay && rover.scheduler.time_available_usec() < 1200) {
rover.gcs_out_of_time = true; gcs().set_out_of_time(true);
return false; return false;
} }
@ -502,7 +502,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
void void
GCS_MAVLINK_Rover::data_stream_send(void) GCS_MAVLINK_Rover::data_stream_send(void)
{ {
rover.gcs_out_of_time = false; gcs().set_out_of_time(false);
if (!rover.in_mavlink_delay) { if (!rover.in_mavlink_delay) {
rover.DataFlash.handle_log_send(*this); rover.DataFlash.handle_log_send(*this);
@ -510,7 +510,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
send_queued_parameters(); send_queued_parameters();
if (rover.gcs_out_of_time) { if (gcs().out_of_time()) {
return; return;
} }
@ -530,7 +530,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
return; return;
} }
if (rover.gcs_out_of_time) { if (gcs().out_of_time()) {
return; return;
} }
@ -539,7 +539,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
send_message(MSG_RAW_IMU3); send_message(MSG_RAW_IMU3);
} }
if (rover.gcs_out_of_time) { if (gcs().out_of_time()) {
return; return;
} }
@ -554,7 +554,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
send_message(MSG_NAV_CONTROLLER_OUTPUT); send_message(MSG_NAV_CONTROLLER_OUTPUT);
} }
if (rover.gcs_out_of_time) { if (gcs().out_of_time()) {
return; return;
} }
@ -564,7 +564,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
send_message(MSG_LOCAL_POSITION); send_message(MSG_LOCAL_POSITION);
} }
if (rover.gcs_out_of_time) { if (gcs().out_of_time()) {
return; return;
} }
@ -572,7 +572,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
send_message(MSG_SERVO_OUT); send_message(MSG_SERVO_OUT);
} }
if (rover.gcs_out_of_time) { if (gcs().out_of_time()) {
return; return;
} }
@ -581,7 +581,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
send_message(MSG_RADIO_IN); send_message(MSG_RADIO_IN);
} }
if (rover.gcs_out_of_time) { if (gcs().out_of_time()) {
return; return;
} }
@ -593,7 +593,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
} }
} }
if (rover.gcs_out_of_time) { if (gcs().out_of_time()) {
return; return;
} }
@ -601,7 +601,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
send_message(MSG_VFR_HUD); send_message(MSG_VFR_HUD);
} }
if (rover.gcs_out_of_time) { if (gcs().out_of_time()) {
return; return;
} }

3
APMrover2/Rover.h
View File

@ -357,9 +357,6 @@ private:
// use this to prevent recursion during sensor init // use this to prevent recursion during sensor init
bool in_mavlink_delay; bool in_mavlink_delay;
// true if we are out of time in our event timeslice
bool gcs_out_of_time;
static const AP_Param::Info var_info[]; static const AP_Param::Info var_info[];
static const LogStructure log_structure[]; static const LogStructure log_structure[];