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Copter: remove GPS_STATUS message

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this message is huge and slow, and is pointless as we have
num_satellites in GPS_RAW_INT
This commit is contained in:
Andrew Tridgell 2013-01-05 20:45:29 +11:00
parent 152ae7d737
commit 578b1b68ad
3 changed files with 0 additions and 32 deletions
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4
ArduCopter/GCS.h
View File

@ -43,7 +43,6 @@ public:
void init(FastSerial *port) {
_port = port;
initialised = true;
last_gps_satellites = 255;
}
/// Update GCS state.
@ -86,9 +85,6 @@ public:
// set to true if this GCS link is active
bool initialised;
// used to prevent wasting bandwidth with GPS_STATUS messages
uint8_t last_gps_satellites;
protected:
/// The stream we are communicating over
FastSerial * _port;

27
ArduCopter/GCS_Mavlink.pde
View File

@ -482,18 +482,6 @@ static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
accel_offsets.z);
}
static void NOINLINE send_gps_status(mavlink_channel_t chan)
{
mavlink_msg_gps_status_send(
chan,
g_gps->num_sats,
NULL,
NULL,
NULL,
NULL,
NULL);
}
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_mission_current_send(
@ -615,11 +603,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
send_raw_imu3(chan);
break;
case MSG_GPS_STATUS:
CHECK_PAYLOAD_SIZE(GPS_STATUS);
send_gps_status(chan);
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan);
@ -926,16 +909,6 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_GPS_RAW);
send_message(MSG_NAV_CONTROLLER_OUTPUT);
send_message(MSG_LIMITS_STATUS);
if (last_gps_satellites != g_gps->num_sats) {
// this message is mostly a huge waste of bandwidth,
// except it is the only message that gives the number
// of visible satellites. So only send it when that
// changes.
send_message(MSG_GPS_STATUS);
last_gps_satellites = g_gps->num_sats;
}
}
if (stream_trigger(STREAM_POSITION)) {

1
ArduCopter/defines.h
View File

@ -247,7 +247,6 @@ enum ap_message {
MSG_RAW_IMU1,
MSG_RAW_IMU2,
MSG_RAW_IMU3,
MSG_GPS_STATUS,
MSG_GPS_RAW,
MSG_SERVO_OUT,
MSG_NEXT_WAYPOINT,