From 2d7f60ab599c9226f4e8b45f3847c12a932c98b2 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Tue, 15 May 2018 23:49:23 -0700
Subject: [PATCH] Sub: Use named float wrappers

---
 ArduSub/GCS_Mavlink.cpp | 65 +++++++++++++----------------------------
 ArduSub/GCS_Mavlink.h   |  2 ++
 ArduSub/Sub.h           |  1 -
 3 files changed, 23 insertions(+), 45 deletions(-)

diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 351cfc5034..9190d61350 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -364,58 +364,35 @@ void NOINLINE Sub::send_temperature(mavlink_channel_t chan)
         celsius.temperature() * 100);
 }
 
-bool NOINLINE Sub::send_info(mavlink_channel_t chan)
+bool GCS_MAVLINK_Sub::send_info()
 {
     // Just do this all at once, hopefully the hard-wire telemetry requirement means this is ok
     // Name is char[10]
-    CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
-    mavlink_msg_named_value_float_send(
-            chan,
-            AP_HAL::millis(),
-            "CamTilt",
-            1 - (SRV_Channels::get_output_norm(SRV_Channel::k_mount_tilt) / 2.0f + 0.5f));
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("CamTilt",
+                     1 - (SRV_Channels::get_output_norm(SRV_Channel::k_mount_tilt) / 2.0f + 0.5f));
 
-    CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
-    mavlink_msg_named_value_float_send(
-            chan,
-            AP_HAL::millis(),
-            "CamPan",
-            1 - (SRV_Channels::get_output_norm(SRV_Channel::k_mount_pan) / 2.0f + 0.5f));
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("CamPan",
+                     1 - (SRV_Channels::get_output_norm(SRV_Channel::k_mount_pan) / 2.0f + 0.5f));
 
-    CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
-    mavlink_msg_named_value_float_send(
-            chan,
-            AP_HAL::millis(),
-            "TetherTrn",
-            quarter_turn_count/4);
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("TetherTrn",
+                     sub.quarter_turn_count/4);
 
-    CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
-    mavlink_msg_named_value_float_send(
-            chan,
-            AP_HAL::millis(),
-            "Lights1",
-            SRV_Channels::get_output_norm(SRV_Channel::k_rcin9) / 2.0f + 0.5f);
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("Lights1",
+                     SRV_Channels::get_output_norm(SRV_Channel::k_rcin9) / 2.0f + 0.5f);
 
-    CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
-    mavlink_msg_named_value_float_send(
-            chan,
-            AP_HAL::millis(),
-            "Lights2",
-            SRV_Channels::get_output_norm(SRV_Channel::k_rcin10) / 2.0f + 0.5f);
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("Lights2",
+                     SRV_Channels::get_output_norm(SRV_Channel::k_rcin10) / 2.0f + 0.5f);
 
-    CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
-    mavlink_msg_named_value_float_send(
-            chan,
-            AP_HAL::millis(),
-            "PilotGain",
-            gain);
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("PilotGain", sub.gain);
 
-    CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
-    mavlink_msg_named_value_float_send(
-            chan,
-            AP_HAL::millis(),
-            "InputHold",
-            input_hold_engaged);
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("InputHold", sub.input_hold_engaged);
 
     return true;
 }
@@ -503,7 +480,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
     switch (id) {
 
     case MSG_NAMED_FLOAT:
-        sub.send_info(chan);
+        send_info();
         break;
 
     case MSG_EXTENDED_STATUS1:
diff --git a/ArduSub/GCS_Mavlink.h b/ArduSub/GCS_Mavlink.h
index 88af049a23..6db0042df1 100644
--- a/ArduSub/GCS_Mavlink.h
+++ b/ArduSub/GCS_Mavlink.h
@@ -35,6 +35,8 @@ private:
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
     bool try_send_message(enum ap_message id) override;
 
+    bool send_info(void);
+
     MAV_TYPE frame_type() const override;
     MAV_MODE base_mode() const override;
     uint32_t custom_mode() const override;
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index c527f34cf7..96070134c2 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -487,7 +487,6 @@ private:
     void rpm_update();
 #endif
     void send_temperature(mavlink_channel_t chan);
-    bool send_info(mavlink_channel_t chan);
     void send_pid_tuning(mavlink_channel_t chan);
     void gcs_data_stream_send(void);
     void gcs_check_input(void);