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Copter: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK

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This commit is contained in:
Peter Barker 2018-05-01 22:05:09 +10:00 committed by Francisco Ferreira
parent fa2e7b3eb4
commit 33582107b6
2 changed files with 0 additions and 24 deletions
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1
ArduCopter/Copter.h
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@ -760,7 +760,6 @@ private:
void gcs_send_deferred(void);
void send_fence_status(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan);
void send_location(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
void send_simstate(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);

23
ArduCopter/GCS_Mavlink.cpp
View File

@ -132,24 +132,6 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
0, 0, 0, 0);
}
void NOINLINE Copter::send_location(mavlink_channel_t chan)
{
const uint32_t now = AP_HAL::millis();
Vector3f vel;
ahrs.get_velocity_NED(vel);
mavlink_msg_global_position_int_send(
chan,
now,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
(ahrs.get_home().alt + current_loc.alt) * 10UL, // millimeters above sea level
current_loc.alt * 10, // millimeters above ground
vel.x * 100, // X speed cm/s (+ve North)
vel.y * 100, // Y speed cm/s (+ve East)
vel.z * 100, // Z speed cm/s (+ve Down)
ahrs.yaw_sensor); // compass heading in 1/100 degree
}
void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
{
const Vector3f &targets = attitude_control->get_att_target_euler_cd();
@ -305,11 +287,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
}
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
copter.send_location(chan);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
copter.send_nav_controller_output(chan);