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Copter: move try_send_message mission handling up

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Peter Barker 2017-07-18 18:55:22 +10:00 committed by Francisco Ferreira
parent 3b472ccc17
commit 3e5665735f
2 changed files with 0 additions and 21 deletions
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1
ArduCopter/Copter.h
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@ -708,7 +708,6 @@ private:
void send_simstate(mavlink_channel_t chan); void send_simstate(mavlink_channel_t chan);
void send_hwstatus(mavlink_channel_t chan); void send_hwstatus(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan); void send_vfr_hud(mavlink_channel_t chan);
void send_current_waypoint(mavlink_channel_t chan);
void send_rpm(mavlink_channel_t chan); void send_rpm(mavlink_channel_t chan);
void rpm_update(); void rpm_update();
void button_update(); void button_update();

20
ArduCopter/GCS_Mavlink.cpp
View File

@ -202,11 +202,6 @@ void NOINLINE Copter::send_vfr_hud(mavlink_channel_t chan)
climb_rate / 100.0f); climb_rate / 100.0f);
} }
void NOINLINE Copter::send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
}
/* /*
send RPM packet send RPM packet
*/ */
@ -393,21 +388,11 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
send_sensor_offsets(copter.ins, copter.compass, copter.barometer); send_sensor_offsets(copter.ins, copter.compass, copter.barometer);
break; break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
copter.send_current_waypoint(chan);
break;
case MSG_NEXT_PARAM: case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE); CHECK_PAYLOAD_SIZE(PARAM_VALUE);
queued_param_send(); queued_param_send();
break; break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
queued_waypoint_send();
break;
case MSG_RANGEFINDER: case MSG_RANGEFINDER:
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RANGEFINDER); CHECK_PAYLOAD_SIZE(RANGEFINDER);
@ -515,11 +500,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
send_vibration(copter.ins); send_vibration(copter.ins);
break; break;
case MSG_MISSION_ITEM_REACHED:
CHECK_PAYLOAD_SIZE(MISSION_ITEM_REACHED);
mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index);
break;
case MSG_ADSB_VEHICLE: case MSG_ADSB_VEHICLE:
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE); CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
copter.adsb.send_adsb_vehicle(chan); copter.adsb.send_adsb_vehicle(chan);