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GCS_MAVLink: eliminate global static GCS_MAVLINK::send_home_all

This commit is contained in:
Peter Barker 2017-07-08 16:26:34 +10:00 committed by Francisco Ferreira
parent 6cc19fee35
commit 731aaed8af
3 changed files with 22 additions and 21 deletions
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20
libraries/GCS_MAVLink/GCS.cpp
View File

@ -15,3 +15,23 @@ void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
send_statustext(severity, GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask(), text);
}
#define FOR_EACH_ACTIVE_CHANNEL(methodcall) \
do { \
for (uint8_t i=0; i<num_gcs(); i++) { \
if (!chan(i).initialised) { \
continue; \
} \
if (!(GCS_MAVLINK::active_channel_mask() & (chan(i).get_chan()-MAVLINK_COMM_0))) { \
continue; \
} \
chan(i).methodcall; \
} \
} while (0);
void GCS::send_home(const Location &home) const
{
FOR_EACH_ACTIVE_CHANNEL(send_home(home));
}
#undef FOR_EACH_ACTIVE_CHANNEL

3
libraries/GCS_MAVLink/GCS.h
View File

@ -169,7 +169,6 @@ public:
void send_local_position(const AP_AHRS &ahrs) const;
void send_vibration(const AP_InertialSensor &ins) const;
void send_home(const Location &home) const;
static void send_home_all(const Location &home);
void send_heartbeat(uint8_t type, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status);
void send_servo_output_raw(bool hil);
static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
@ -435,10 +434,12 @@ public:
virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
void service_statustext(void);
virtual GCS_MAVLINK &chan(const uint8_t ofs) = 0;
virtual const GCS_MAVLINK &chan(const uint8_t ofs) const = 0;
virtual uint8_t num_gcs() const = 0;
void reset_cli_timeout();
void send_message(enum ap_message id);
void send_mission_item_reached_message(uint16_t mission_index);
void send_home(const Location &home) const;
void data_stream_send();
void update();
virtual void setup_uarts(AP_SerialManager &serial_manager);

20
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1517,26 +1517,6 @@ void GCS_MAVLINK::send_home(const Location &home) const
}
}
void GCS_MAVLINK::send_home_all(const Location &home)
{
const float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
if ((1U<<i) & mavlink_active) {
mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0+i);
if (HAVE_PAYLOAD_SPACE(chan, HOME_POSITION)) {
mavlink_msg_home_position_send(
chan,
home.lat,
home.lng,
home.alt * 10,
0.0f, 0.0f, 0.0f,
q,
0.0f, 0.0f, 0.0f);
}
}
}
}
/*
wrapper for sending heartbeat
*/