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Sub: move try_send_message of nav_controller_output up

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This commit is contained in:
Peter Barker 2018-05-05 10:09:13 +10:00 committed by Andrew Tridgell
parent de615ee11d
commit 57e5991fde
3 changed files with 7 additions and 11 deletions
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15
ArduSub/GCS_Mavlink.cpp
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@ -213,17 +213,17 @@ void GCS_MAVLINK_Sub::get_sensor_status_flags(uint32_t &control_sensors_present,
return sub.get_sensor_status_flags(control_sensors_present, control_sensors_enabled, control_sensors_health);
}
void NOINLINE Sub::send_nav_controller_output(mavlink_channel_t chan)
void GCS_MAVLINK_Sub::send_nav_controller_output() const
{
const Vector3f &targets = attitude_control.get_att_target_euler_cd();
const Vector3f &targets = sub.attitude_control.get_att_target_euler_cd();
mavlink_msg_nav_controller_output_send(
chan,
targets.x * 1.0e-2f,
targets.y * 1.0e-2f,
targets.z * 1.0e-2f,
wp_nav.get_wp_bearing_to_destination() * 1.0e-2f,
MIN(wp_nav.get_wp_distance_to_destination() * 1.0e-2f, UINT16_MAX),
pos_control.get_alt_error() * 1.0e-2f,
sub.wp_nav.get_wp_bearing_to_destination() * 1.0e-2f,
MIN(sub.wp_nav.get_wp_distance_to_destination() * 1.0e-2f, UINT16_MAX),
sub.pos_control.get_alt_error() * 1.0e-2f,
0,
0);
}
@ -381,11 +381,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
send_info();
break;
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
sub.send_nav_controller_output(chan);
break;
case MSG_RPM:
#if RPM_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RPM);

2
ArduSub/GCS_Mavlink.h
View File

@ -35,6 +35,8 @@ protected:
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
void send_nav_controller_output() const override;
private:
void handleMessage(mavlink_message_t * msg) override;

1
ArduSub/Sub.h
View File

@ -478,7 +478,6 @@ private:
void get_sensor_status_flags(uint32_t &control_sensors_present,
uint32_t &control_sensors_enabled,
uint32_t &control_sensors_health);
void send_nav_controller_output(mavlink_channel_t chan);
#if RPM_ENABLED == ENABLED
void send_rpm(mavlink_channel_t chan);
void rpm_update();