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Copter: move handling of VFR_HUD into GCS_MAVLink_Copter

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This commit is contained in:
Peter Barker 2017-11-20 17:30:39 +11:00 committed by Andrew Tridgell
parent d1174bcf70
commit 5f2221fe74
3 changed files with 6 additions and 15 deletions
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1
ArduCopter/Copter.h
View File

@ -768,7 +768,6 @@ private:
void send_fence_status(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
void send_vfr_hud(mavlink_channel_t chan);
void send_rpm(mavlink_channel_t chan);
void send_pid_tuning(mavlink_channel_t chan);
void gcs_data_stream_send(void);

16
ArduCopter/GCS_Mavlink.cpp
View File

@ -171,16 +171,9 @@ void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
0);
}
void NOINLINE Copter::send_vfr_hud(mavlink_channel_t chan)
int16_t GCS_MAVLINK_Copter::vfr_hud_throttle() const
{
mavlink_msg_vfr_hud_send(
chan,
gps.ground_speed(),
ahrs.groundspeed(),
(ahrs.yaw_sensor / 100) % 360,
(int16_t)(motors->get_throttle() * 100),
current_loc.alt / 100.0f,
climb_rate / 100.0f);
return (int16_t)(copter.motors->get_throttle() * 100);
}
/*
@ -308,11 +301,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
copter.send_nav_controller_output(chan);
break;
case MSG_VFR_HUD:
CHECK_PAYLOAD_SIZE(VFR_HUD);
copter.send_vfr_hud(chan);
break;
case MSG_RPM:
#if RPM_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RPM);

4
ArduCopter/GCS_Mavlink.h
View File

@ -51,4 +51,8 @@ private:
MAV_MODE base_mode() const override;
uint32_t custom_mode() const override;
MAV_STATE system_status() const override;
int16_t vfr_hud_throttle() const override;
bool vfr_hud_make_alt_relative() const override { return true; }
};