From 578b1b68adbb85c8cbcaf193f3722cd9fcca65a3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 5 Jan 2013 20:45:29 +1100
Subject: [PATCH] Copter: remove GPS_STATUS message

this message is huge and slow, and is pointless as we have
num_satellites in GPS_RAW_INT
---
 ArduCopter/GCS.h           |  4 ----
 ArduCopter/GCS_Mavlink.pde | 27 ---------------------------
 ArduCopter/defines.h       |  1 -
 3 files changed, 32 deletions(-)

diff --git a/ArduCopter/GCS.h b/ArduCopter/GCS.h
index 189171866a..bccc0e1404 100644
--- a/ArduCopter/GCS.h
+++ b/ArduCopter/GCS.h
@@ -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;
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index fba048f4be..6c73cb3ace 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -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)) {
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 47d2b68ce6..abfbace21e 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -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,