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Rover: cleanup unnecessarily complex gcs[] usage

This commit is contained in:
Andrew Tridgell 2016-05-17 08:27:01 +10:00
parent 23197b0689
commit 7957f25f32
1 changed files with 14 additions and 14 deletions
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28
APMrover2/GCS_Mavlink.cpp
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@ -419,7 +419,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
switch (id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
rover.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = AP_HAL::millis();
last_heartbeat_time = AP_HAL::millis();
rover.send_heartbeat(chan);
return true;
@ -427,12 +427,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
CHECK_PAYLOAD_SIZE(SYS_STATUS);
rover.send_extended_status1(chan);
CHECK_PAYLOAD_SIZE(POWER_STATUS);
rover.gcs[chan-MAVLINK_COMM_0].send_power_status();
send_power_status();
break;
case MSG_EXTENDED_STATUS2:
CHECK_PAYLOAD_SIZE(MEMINFO);
rover.gcs[chan-MAVLINK_COMM_0].send_meminfo();
send_meminfo();
break;
case MSG_ATTITUDE:
@ -459,12 +459,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
rover.gcs[chan-MAVLINK_COMM_0].send_gps_raw(rover.gps);
send_gps_raw(rover.gps);
break;
case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
rover.gcs[chan-MAVLINK_COMM_0].send_system_time(rover.gps);
send_system_time(rover.gps);
break;
case MSG_SERVO_OUT:
@ -474,7 +474,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
rover.gcs[chan-MAVLINK_COMM_0].send_radio_in(rover.receiver_rssi);
send_radio_in(rover.receiver_rssi);
break;
case MSG_RADIO_OUT:
@ -489,12 +489,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU);
rover.gcs[chan-MAVLINK_COMM_0].send_raw_imu(rover.ins, rover.compass);
send_raw_imu(rover.ins, rover.compass);
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
rover.gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(rover.ins, rover.compass, rover.barometer);
send_sensor_offsets(rover.ins, rover.compass, rover.barometer);
break;
case MSG_CURRENT_WAYPOINT:
@ -504,12 +504,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
rover.gcs[chan-MAVLINK_COMM_0].queued_param_send();
queued_param_send();
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
rover.gcs[chan-MAVLINK_COMM_0].queued_waypoint_send();
queued_waypoint_send();
break;
case MSG_STATUSTEXT:
@ -518,7 +518,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
rover.gcs[chan-MAVLINK_COMM_0].send_ahrs(rover.ahrs);
send_ahrs(rover.ahrs);
break;
case MSG_SIMSTATE:
@ -557,7 +557,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_BATTERY2:
CHECK_PAYLOAD_SIZE(BATTERY2);
rover.gcs[chan-MAVLINK_COMM_0].send_battery2(rover.battery);
send_battery2(rover.battery);
break;
case MSG_CAMERA_FEEDBACK:
@ -1079,7 +1079,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) {
rover.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION);
send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED;
}
break;
@ -1374,7 +1374,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
rover.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION);
send_autopilot_version(FIRMWARE_VERSION);
break;
} // end switch