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Sub: remove pointless wrappers around gcs functions

This commit is contained in:
Peter Barker 2018-11-22 14:49:04 +11:00 committed by Peter Barker
parent ee5339f931
commit 27405f9dd7
3 changed files with 6 additions and 30 deletions
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6
ArduSub/ArduSub.cpp
View File

@ -38,10 +38,10 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_Baro, &sub.barometer, accumulate, 50, 90), SCHED_TASK_CLASS(AP_Baro, &sub.barometer, accumulate, 50, 90),
SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90), SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90),
SCHED_TASK(one_hz_loop, 1, 100), SCHED_TASK(one_hz_loop, 1, 100),
SCHED_TASK(gcs_update, 400, 180), SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update, 400, 180),
SCHED_TASK(gcs_send_heartbeat, 1, 110), SCHED_TASK(gcs_send_heartbeat, 1, 110),
SCHED_TASK(gcs_send_deferred, 50, 550), SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, retry_deferred, 50, 550),
SCHED_TASK(gcs_data_stream_send, 50, 550), SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, data_stream_send, 50, 550),
#if MOUNT == ENABLED #if MOUNT == ENABLED
SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75), SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75),
#endif #endif

27
ArduSub/GCS_Mavlink.cpp
View File

@ -10,11 +10,6 @@ void Sub::gcs_send_heartbeat()
gcs().send_message(MSG_HEARTBEAT); gcs().send_message(MSG_HEARTBEAT);
} }
void Sub::gcs_send_deferred()
{
gcs().retry_deferred();
}
/* /*
* !!NOTE!! * !!NOTE!!
* *
@ -1145,9 +1140,9 @@ void Sub::mavlink_delay_cb()
} }
if (tnow - last_50hz > 20) { if (tnow - last_50hz > 20) {
last_50hz = tnow; last_50hz = tnow;
gcs_update(); gcs().update();
gcs_data_stream_send(); gcs().data_stream_send();
gcs_send_deferred(); gcs().retry_deferred();
notify.update(); notify.update();
} }
if (tnow - last_5s > 5000) { if (tnow - last_5s > 5000) {
@ -1158,22 +1153,6 @@ void Sub::mavlink_delay_cb()
DataFlash.EnableWrites(true); DataFlash.EnableWrites(true);
} }
/*
* send data streams in the given rate range on both links
*/
void Sub::gcs_data_stream_send()
{
gcs().data_stream_send();
}
/*
* look for incoming commands on the GCS links
*/
void Sub::gcs_update()
{
gcs().update();
}
AP_Mission *GCS_MAVLINK_Sub::get_mission() AP_Mission *GCS_MAVLINK_Sub::get_mission()
{ {
return &sub.mission; return &sub.mission;

3
ArduSub/Sub.h
View File

@ -474,7 +474,6 @@ private:
void update_poscon_alt_max(); void update_poscon_alt_max();
void rotate_body_frame_to_NE(float &x, float &y); void rotate_body_frame_to_NE(float &x, float &y);
void gcs_send_heartbeat(void); void gcs_send_heartbeat(void);
void gcs_send_deferred(void);
void send_heartbeat(mavlink_channel_t chan); void send_heartbeat(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan); void send_extended_status1(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan); void send_nav_controller_output(mavlink_channel_t chan);
@ -483,8 +482,6 @@ private:
void rpm_update(); void rpm_update();
#endif #endif
void send_pid_tuning(mavlink_channel_t chan); void send_pid_tuning(mavlink_channel_t chan);
void gcs_data_stream_send(void);
void gcs_update(void);
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();
void Log_Write_Performance(); void Log_Write_Performance();
void Log_Write_Attitude(); void Log_Write_Attitude();