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Rover: remove pointless wrappers around gcs functions

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This commit is contained in:
Peter Barker 2018-11-22 14:16:39 +11:00 committed by Peter Barker
parent a4243d9c7c
commit 5dcf4dfffc
3 changed files with 6 additions and 33 deletions
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8
APMrover2/APMrover2.cpp
View File

@ -60,9 +60,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(update_mission, 50, 200),
SCHED_TASK(update_logging1, 10, 200),
SCHED_TASK(update_logging2, 10, 200),
SCHED_TASK(gcs_retry_deferred, 50, 500),
SCHED_TASK(gcs_update, 50, 500),
SCHED_TASK(gcs_data_stream_send, 50, 1000),
SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, retry_deferred, 50, 500),
SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update, 50, 500),
SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, data_stream_send, 50, 1000),
SCHED_TASK(read_mode_switch, 7, 200),
SCHED_TASK(read_aux_all, 10, 200),
SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300),
@ -159,7 +159,7 @@ void Rover::ahrs_update()
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before AHRS update
gcs_update();
gcs().update();
#endif
// AHRS may use movement to calculate heading

28
APMrover2/GCS_Mavlink.cpp
View File

@ -1170,8 +1170,8 @@ void Rover::mavlink_delay_cb()
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
gcs().update();
gcs().data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
@ -1182,30 +1182,6 @@ void Rover::mavlink_delay_cb()
DataFlash.EnableWrites(true);
}
/*
* send data streams in the given rate range on both links
*/
void Rover::gcs_data_stream_send(void)
{
gcs().data_stream_send();
}
/*
* look for incoming commands on the GCS links
*/
void Rover::gcs_update(void)
{
gcs().update();
}
/**
retry any deferred messages
*/
void Rover::gcs_retry_deferred(void)
{
gcs().retry_deferred();
}
/*
return true if we will accept this packet. Used to implement SYSID_ENFORCE
*/

3
APMrover2/Rover.h
View File

@ -476,9 +476,6 @@ private:
void send_pid_tuning(mavlink_channel_t chan);
void send_wheel_encoder(mavlink_channel_t chan);
void send_fence_status(mavlink_channel_t chan);
void gcs_data_stream_send(void);
void gcs_update(void);
void gcs_retry_deferred(void);
// Log.cpp
void Log_Write_Arm_Disarm();