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Plane: use AHRS singleton in GCS_MAVLink

This commit is contained in:
Peter Barker 2018-01-06 12:31:29 +11:00 committed by Francisco Ferreira
parent 9bffeb4117
commit 5671b3173e
1 changed files with 2 additions and 12 deletions
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14
ArduPlane/GCS_Mavlink.cpp
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@ -424,11 +424,6 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
plane.send_location(chan);
break;
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
send_local_position(plane.ahrs);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
if (plane.control_mode != MANUAL) {
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
@ -493,16 +488,11 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
#endif
break;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(plane.ahrs);
break;
case MSG_SIMSTATE:
CHECK_PAYLOAD_SIZE(SIMSTATE);
plane.send_simstate(chan);
CHECK_PAYLOAD_SIZE2(AHRS2);
send_ahrs2(plane.ahrs);
send_ahrs2();
break;
case MSG_RANGEFINDER:
@ -540,7 +530,7 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
#if OPTFLOW == ENABLED
if (plane.optflow.enabled()) {
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
send_opticalflow(plane.ahrs, plane.optflow);
send_opticalflow(plane.optflow);
}
#endif
break;