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Copter: changes for more common mavlink code

This commit is contained in:
Andrew Tridgell 2014-07-13 15:37:21 +10:00
parent c5a765758c
commit 71d2333ea8
1 changed files with 4 additions and 88 deletions
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92
ArduCopter/GCS_Mavlink.pde
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@ -268,20 +268,6 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
0); 0);
} }
static void NOINLINE send_ahrs(mavlink_channel_t chan)
{
const Vector3f &omega_I = ahrs.get_gyro_drift();
mavlink_msg_ahrs_send(
chan,
omega_I.x,
omega_I.y,
omega_I.z,
1,
0,
ahrs.get_error_rp(),
ahrs.get_error_yaw());
}
// report simulator state // report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan) static void NOINLINE send_simstate(mavlink_channel_t chan)
{ {
@ -408,76 +394,6 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
climb_rate / 100.0f); climb_rate / 100.0f);
} }
static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
{
const Vector3f &accel = ins.get_accel();
const Vector3f &gyro = ins.get_gyro();
const Vector3f &mag = compass.get_field();
mavlink_msg_raw_imu_send(
chan,
micros(),
accel.x * 1000.0f / GRAVITY_MSS,
accel.y * 1000.0f / GRAVITY_MSS,
accel.z * 1000.0f / GRAVITY_MSS,
gyro.x * 1000.0f,
gyro.y * 1000.0f,
gyro.z * 1000.0f,
mag.x,
mag.y,
mag.z);
if (ins.get_gyro_count() <= 1 &&
ins.get_accel_count() <= 1 &&
compass.get_count() <= 1) {
return;
}
const Vector3f &accel2 = ins.get_accel(1);
const Vector3f &gyro2 = ins.get_gyro(1);
const Vector3f &mag2 = compass.get_field(1);
mavlink_msg_scaled_imu2_send(
chan,
millis(),
accel2.x * 1000.0f / GRAVITY_MSS,
accel2.y * 1000.0f / GRAVITY_MSS,
accel2.z * 1000.0f / GRAVITY_MSS,
gyro2.x * 1000.0f,
gyro2.y * 1000.0f,
gyro2.z * 1000.0f,
mag2.x,
mag2.y,
mag2.z);
}
static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
{
mavlink_msg_scaled_pressure_send(
chan,
millis(),
barometer.get_pressure()*0.01f, // hectopascal
(barometer.get_pressure() - barometer.get_ground_pressure())*0.01f, // hectopascal
(int16_t)(barometer.get_temperature()*100)); // 0.01 degrees C
}
static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
{
const Vector3f &mag_offsets = compass.get_offsets();
const Vector3f &accel_offsets = ins.get_accel_offsets();
const Vector3f &gyro_offsets = ins.get_gyro_offsets();
mavlink_msg_sensor_offsets_send(chan,
mag_offsets.x,
mag_offsets.y,
mag_offsets.z,
compass.get_declination(),
barometer.get_pressure(),
barometer.get_temperature()*100,
gyro_offsets.x,
gyro_offsets.y,
gyro_offsets.z,
accel_offsets.x,
accel_offsets.y,
accel_offsets.z);
}
static void NOINLINE send_current_waypoint(mavlink_channel_t chan) static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{ {
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index()); mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
@ -605,17 +521,17 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_RAW_IMU1: case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU); CHECK_PAYLOAD_SIZE(RAW_IMU);
send_raw_imu1(chan); gcs[chan-MAVLINK_COMM_0].send_raw_imu(ins, compass);
break; break;
case MSG_RAW_IMU2: case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE); CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
send_raw_imu2(chan); gcs[chan-MAVLINK_COMM_0].send_scaled_pressure(barometer);
break; break;
case MSG_RAW_IMU3: case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS); CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_raw_imu3(chan); gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(ins, compass, barometer);
break; break;
case MSG_CURRENT_WAYPOINT: case MSG_CURRENT_WAYPOINT:
@ -654,7 +570,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_AHRS: case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS); CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(chan); gcs[chan-MAVLINK_COMM_0].send_ahrs(ahrs);
break; break;
case MSG_SIMSTATE: case MSG_SIMSTATE: