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Sub: move heartbeat sending to gcs instead of by vehicles

This commit is contained in:
Tom Pittenger 2019-04-25 16:32:15 -07:00 committed by Tom Pittenger
parent 08d5e7d4ae
commit 5519527874
1 changed files with 0 additions and 1 deletions
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ArduSub/ArduSub.cpp
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@ -39,7 +39,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90), SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90),
SCHED_TASK(one_hz_loop, 1, 100), SCHED_TASK(one_hz_loop, 1, 100),
SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_receive, 400, 180), SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_receive, 400, 180),
SCHED_TASK(gcs_send_heartbeat, 1, 110),
SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_send, 400, 550), SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_send, 400, 550),
#if MOUNT == ENABLED #if MOUNT == ENABLED
SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75), SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75),