From 26e526c3abf6c9f1f46bfc94758f9f497e7da223 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 22 Sep 2012 19:38:05 +1000
Subject: [PATCH] APM: removed unnecessary waypoint_sending flag

---
 ArduPlane/GCS.h           |  1 -
 ArduPlane/GCS_Mavlink.pde | 20 ++------------------
 2 files changed, 2 insertions(+), 19 deletions(-)

diff --git a/ArduPlane/GCS.h b/ArduPlane/GCS.h
index ee81192832..4ba240d06a 100644
--- a/ArduPlane/GCS.h
+++ b/ArduPlane/GCS.h
@@ -180,7 +180,6 @@ private:
     uint16_t        waypoint_request_last; // last request index
     uint16_t        waypoint_dest_sysid; // where to send requests
     uint16_t        waypoint_dest_compid; // "
-    bool            waypoint_sending; // currently in send process
     bool            waypoint_receiving; // currently receiving
     uint16_t        waypoint_count;
     uint32_t        waypoint_timelast_send; // milliseconds
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 3f5477ac9c..1cb1cd9adf 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -787,7 +787,7 @@ GCS_MAVLINK::update(void)
     // Update packet drops counter
     packet_drops += status.packet_rx_drop_count;
 
-    if (!waypoint_receiving && !waypoint_sending) {
+    if (!waypoint_receiving) {
         return;
     }
 
@@ -800,11 +800,6 @@ GCS_MAVLINK::update(void)
         send_message(MSG_NEXT_WAYPOINT);
     }
 
-    // stop waypoint sending if timeout
-    if (waypoint_sending && (millis() - waypoint_timelast_send) > waypoint_send_timeout) {
-        waypoint_sending = false;
-    }
-
     // stop waypoint receiving if timeout
     if (waypoint_receiving && (millis() - waypoint_timelast_receive) > waypoint_receive_timeout) {
         waypoint_receiving = false;
@@ -819,8 +814,7 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
 
     // send at a much lower rate while handling waypoints and
     // parameter sends
-    if (waypoint_receiving || waypoint_sending ||
-        _queued_parameter != NULL) {
+    if (waypoint_receiving || _queued_parameter != NULL) {
         rate *= 0.25;
     }
 
@@ -1158,7 +1152,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             g.command_total + 1);     // + home
 
         waypoint_timelast_send   = millis();
-        waypoint_sending         = true;
         waypoint_receiving       = false;
         waypoint_dest_sysid      = msg->sysid;
         waypoint_dest_compid     = msg->compid;
@@ -1169,10 +1162,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     // XXX read a WP from EEPROM and send it to the GCS
     case MAVLINK_MSG_ID_MISSION_REQUEST:
     {
-        // Check if sending waypiont
-        //if (!waypoint_sending) break;
-        // 5/10/11 - We are trying out relaxing the requirement that we be in waypoint sending mode to respond to a waypoint request.  DEW
-
         // decode
         mavlink_mission_request_t packet;
         mavlink_msg_mission_request_decode(msg, &packet);
@@ -1277,9 +1266,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         mavlink_mission_ack_t packet;
         mavlink_msg_mission_ack_decode(msg, &packet);
         if (mavlink_check_target(packet.target_system,packet.target_component)) break;
-
-        // turn off waypoint send
-        waypoint_sending = false;
         break;
     }
 
@@ -1380,7 +1366,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         waypoint_timelast_receive = millis();
         waypoint_timelast_request = 0;
         waypoint_receiving   = true;
-        waypoint_sending     = false;
         waypoint_request_i   = 0;
         waypoint_request_last= g.command_total;
         break;
@@ -1404,7 +1389,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         waypoint_timelast_receive = millis();
         waypoint_timelast_request = 0;
         waypoint_receiving   = true;
-        waypoint_sending     = false;
         waypoint_request_i   = packet.start_index;
         waypoint_request_last= packet.end_index;
         break;