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Rover: use AP::ahrs() for GCS_MAVLink

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This commit is contained in:
Peter Barker 2018-01-06 14:57:53 +11:00 committed by Francisco Ferreira
parent 15f212adc0
commit 78ecf55fec
1 changed files with 0 additions and 10 deletions
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10
APMrover2/GCS_Mavlink.cpp
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@ -311,11 +311,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
rover.send_location(chan); rover.send_location(chan);
break; break;
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
send_local_position(rover.ahrs);
break;
case MSG_NAV_CONTROLLER_OUTPUT: case MSG_NAV_CONTROLLER_OUTPUT:
if (rover.control_mode->is_autopilot_mode()) { if (rover.control_mode->is_autopilot_mode()) {
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT); 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); send_sensor_offsets(rover.ins, rover.compass, rover.barometer);
break; break;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(rover.ahrs);
break;
case MSG_SIMSTATE: case MSG_SIMSTATE:
CHECK_PAYLOAD_SIZE(SIMSTATE); CHECK_PAYLOAD_SIZE(SIMSTATE);
rover.send_simstate(chan); rover.send_simstate(chan);