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remove unsued MSG_LOCAL_LOCATION

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this saves us a bit of code
This commit is contained in:
Andrew Tridgell 2011-09-18 11:07:24 +10:00
parent 5042ca8e9e
commit 87ddd50c2a
3 changed files with 0 additions and 22 deletions
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2
ArduPlane/HIL_Xplane.pde
View File

@ -93,8 +93,6 @@ HIL_XPLANE::send_message(uint8_t id, uint32_t param)
break; break;
case MSG_LOCATION: case MSG_LOCATION:
break; break;
case MSG_LOCAL_LOCATION:
break;
case MSG_GPS_RAW: case MSG_GPS_RAW:
break; break;
case MSG_SERVO_OUT: case MSG_SERVO_OUT:

19
ArduPlane/Mavlink_Common.h
View File

@ -149,20 +149,6 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
crosstrack_error); crosstrack_error);
} }
static void NOINLINE send_local_location(mavlink_channel_t chan)
{
Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
mavlink_msg_local_position_send(
chan,
micros(),
ToRad((current_loc.lat - home.lat) / 1.0e7) * radius_of_earth,
ToRad((current_loc.lng - home.lng) / 1.0e7) * radius_of_earth * cos(ToRad(home.lat / 1.0e7)),
(current_loc.alt - home.alt) / 1.0e2,
g_gps->ground_speed / 1.0e2 * rot.a.x,
g_gps->ground_speed / 1.0e2 * rot.b.x,
g_gps->ground_speed / 1.0e2 * rot.c.x);
}
static void NOINLINE send_gps_raw(mavlink_channel_t chan) static void NOINLINE send_gps_raw(mavlink_channel_t chan)
{ {
mavlink_msg_gps_raw_send( mavlink_msg_gps_raw_send(
@ -348,11 +334,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
} }
break; break;
case MSG_LOCAL_LOCATION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION);
send_local_location(chan);
break;
case MSG_GPS_RAW: case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW); CHECK_PAYLOAD_SIZE(GPS_RAW);
send_gps_raw(chan); send_gps_raw(chan);

1
ArduPlane/defines.h
View File

@ -163,7 +163,6 @@
#define MSG_ATTITUDE_CORRECT 0xb1 #define MSG_ATTITUDE_CORRECT 0xb1
#define MSG_POSITION_SET 0xb2 #define MSG_POSITION_SET 0xb2
#define MSG_ATTITUDE_SET 0xb3 #define MSG_ATTITUDE_SET 0xb3
#define MSG_LOCAL_LOCATION 0xb4
#define MSG_RETRY_DEFERRED 0xff #define MSG_RETRY_DEFERRED 0xff
#define SEVERITY_LOW 1 #define SEVERITY_LOW 1