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ArduCopter: change rangefinder msg for common one

This commit is contained in:
Pierre Kancir 2017-05-30 16:15:32 +02:00 committed by Francisco Ferreira
parent 156863d10a
commit 261eb387eb
2 changed files with 1 additions and 16 deletions
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1
ArduCopter/Copter.h
View File

@ -703,7 +703,6 @@ private:
void send_hwstatus(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);
void send_current_waypoint(mavlink_channel_t chan);
void send_rangefinder(mavlink_channel_t chan);
void send_proximity(mavlink_channel_t chan, uint16_t count_max);
void send_rpm(mavlink_channel_t chan);
void rpm_update();

16
ArduCopter/GCS_Mavlink.cpp
View File

@ -207,20 +207,6 @@ void NOINLINE Copter::send_current_waypoint(mavlink_channel_t chan)
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
}
#if RANGEFINDER_ENABLED == ENABLED
void NOINLINE Copter::send_rangefinder(mavlink_channel_t chan)
{
// exit immediately if rangefinder is disabled
if (!rangefinder.has_data_orient(ROTATION_PITCH_270)) {
return;
}
mavlink_msg_rangefinder_send(
chan,
rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f,
rangefinder.voltage_mv_orient(ROTATION_PITCH_270) * 0.001f);
}
#endif
void NOINLINE Copter::send_proximity(mavlink_channel_t chan, uint16_t count_max)
{
#if PROXIMITY_ENABLED == ENABLED
@ -472,7 +458,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
case MSG_RANGEFINDER:
#if RANGEFINDER_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RANGEFINDER);
copter.send_rangefinder(chan);
send_rangefinder(copter.rangefinder);
CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR);
send_distance_sensor_downward(copter.rangefinder);
#endif