From 78ecf55fec418146bd4e4e822754d68c520ec43c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 6 Jan 2018 14:57:53 +1100 Subject: [PATCH] Rover: use AP::ahrs() for GCS_MAVLink --- APMrover2/GCS_Mavlink.cpp | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp index 93d333749c..073c577c1f 100644 --- a/APMrover2/GCS_Mavlink.cpp +++ b/APMrover2/GCS_Mavlink.cpp @@ -311,11 +311,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id) rover.send_location(chan); break; - case MSG_LOCAL_POSITION: - CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED); - send_local_position(rover.ahrs); - break; - case MSG_NAV_CONTROLLER_OUTPUT: if (rover.control_mode->is_autopilot_mode()) { CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT); @@ -358,11 +353,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id) send_sensor_offsets(rover.ins, rover.compass, rover.barometer); break; - case MSG_AHRS: - CHECK_PAYLOAD_SIZE(AHRS); - send_ahrs(rover.ahrs); - break; - case MSG_SIMSTATE: CHECK_PAYLOAD_SIZE(SIMSTATE); rover.send_simstate(chan);