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GCS_MAVLink: move send_attitude up to GCS_MAVLINK

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Peter Barker 2018-05-02 16:50:28 +10:00 committed by Peter Barker
parent 22916fd97e
commit 514bc5c21d
2 changed files with 21 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -181,6 +181,7 @@ public:
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
void send_opticalflow(const OpticalFlow &optflow); void send_opticalflow(const OpticalFlow &optflow);
#endif #endif
virtual void send_attitude() const;
void send_autopilot_version() const; void send_autopilot_version() const;
void send_local_position() const; void send_local_position() const;
void send_vibration() const; void send_vibration() const;

20
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2693,6 +2693,21 @@ bool GCS_MAVLINK::try_send_camera_message(const enum ap_message id)
return ret; return ret;
} }
void GCS_MAVLINK::send_attitude() const
{
const AP_AHRS &ahrs = AP::ahrs();
const Vector3f omega = ahrs.get_gyro();
mavlink_msg_attitude_send(
chan,
AP_HAL::millis(),
ahrs.roll,
ahrs.pitch,
ahrs.yaw,
omega.x,
omega.y,
omega.z);
}
bool GCS_MAVLINK::try_send_message(const enum ap_message id) bool GCS_MAVLINK::try_send_message(const enum ap_message id)
{ {
if (telemetry_delayed()) { if (telemetry_delayed()) {
@ -2703,6 +2718,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
switch(id) { switch(id) {
case MSG_ATTITUDE:
CHECK_PAYLOAD_SIZE(ATTITUDE);
send_attitude();
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();