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AP_GPS: Don't defeat the GCS message interval code

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Michael du Breuil 2019-10-14 18:17:43 -07:00 committed by WickedShell
parent 80bd038333
commit 5bafd7d72c
1 changed files with 0 additions and 21 deletions
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21
libraries/AP_GPS/AP_GPS.cpp
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@ -960,21 +960,6 @@ void AP_GPS::inject_data(uint8_t instance, uint8_t *data, uint16_t len)
void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan) void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
{ {
static uint32_t last_send_time_ms[MAVLINK_COMM_NUM_BUFFERS];
if (status(0) > AP_GPS::NO_GPS) {
// when we have a GPS then only send new data
if (last_send_time_ms[chan] == last_message_time_ms(0)) {
return;
}
last_send_time_ms[chan] = last_message_time_ms(0);
} else {
// when we don't have a GPS then send at 1Hz
uint32_t now = AP_HAL::millis();
if (now - last_send_time_ms[chan] < 1000) {
return;
}
last_send_time_ms[chan] = now;
}
const Location &loc = location(0); const Location &loc = location(0);
float hacc = 0.0f; float hacc = 0.0f;
float vacc = 0.0f; float vacc = 0.0f;
@ -1004,15 +989,9 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
#if GPS_MAX_RECEIVERS > 1 #if GPS_MAX_RECEIVERS > 1
void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan) void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
{ {
static uint32_t last_send_time_ms[MAVLINK_COMM_NUM_BUFFERS];
if (num_instances < 2 || status(1) <= AP_GPS::NO_GPS) { if (num_instances < 2 || status(1) <= AP_GPS::NO_GPS) {
return; return;
} }
// when we have a GPS then only send new data
if (last_send_time_ms[chan] == last_message_time_ms(1)) {
return;
}
last_send_time_ms[chan] = last_message_time_ms(1);
const Location &loc = location(1); const Location &loc = location(1);
mavlink_msg_gps2_raw_send( mavlink_msg_gps2_raw_send(