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Plane: use common send_ahrs2()

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This commit is contained in:
Andrew Tridgell 2014-01-04 11:30:42 +11:00
parent 9aea781248
commit 4646682a31
1 changed files with 1 additions and 19 deletions
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20
ArduPlane/GCS_Mavlink.pde
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@ -527,24 +527,6 @@ static void NOINLINE send_simstate(mavlink_channel_t chan)
#endif #endif
} }
// report NavEKF state
static void NOINLINE send_ekf(mavlink_channel_t chan)
{
#if AP_AHRS_NAVEKF_AVAILABLE
Vector3f euler;
struct Location loc;
if (ahrs.get_secondary_attitude(euler) && ahrs.get_secondary_position(loc)) {
mavlink_msg_ahrs2_send(chan,
euler.x,
euler.y,
euler.z,
loc.alt*1.0e-2f,
loc.lat,
loc.lng);
}
#endif
}
static void NOINLINE send_hwstatus(mavlink_channel_t chan) static void NOINLINE send_hwstatus(mavlink_channel_t chan)
{ {
mavlink_msg_hwstatus_send( mavlink_msg_hwstatus_send(
@ -745,7 +727,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id)
CHECK_PAYLOAD_SIZE(SIMSTATE); CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate(chan); send_simstate(chan);
CHECK_PAYLOAD_SIZE(AHRS2); CHECK_PAYLOAD_SIZE(AHRS2);
send_ekf(chan); gcs[chan-MAVLINK_COMM_0].send_ahrs2(ahrs);
break; break;
case MSG_HWSTATUS: case MSG_HWSTATUS: