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Sub: move gcs_out_of_time into GCS object

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This commit is contained in:
Peter Barker 2017-08-21 12:32:48 +10:00 committed by Francisco Ferreira
parent aee939f891
commit 89e3f1dbd8
3 changed files with 11 additions and 15 deletions
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22
ArduSub/GCS_Mavlink.cpp
View File

@ -482,7 +482,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
// wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications
if (sub.scheduler.time_available_usec() < 250 && sub.motors.armed()) {
sub.gcs_out_of_time = true;
gcs().set_out_of_time(true);
return false;
}
@ -744,11 +744,11 @@ GCS_MAVLINK_Sub::data_stream_send(void)
sub.DataFlash.handle_log_send(*this);
}
sub.gcs_out_of_time = false;
gcs().set_out_of_time(false);
send_queued_parameters();
if (sub.gcs_out_of_time) {
if (gcs().out_of_time()) {
return;
}
@ -763,7 +763,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
send_message(MSG_RAW_IMU3);
}
if (sub.gcs_out_of_time) {
if (gcs().out_of_time()) {
return;
}
@ -780,7 +780,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
send_message(MSG_NAMED_FLOAT);
}
if (sub.gcs_out_of_time) {
if (gcs().out_of_time()) {
return;
}
@ -789,14 +789,14 @@ GCS_MAVLINK_Sub::data_stream_send(void)
send_message(MSG_LOCAL_POSITION);
}
if (sub.gcs_out_of_time) {
if (gcs().out_of_time()) {
return;
}
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
}
if (sub.gcs_out_of_time) {
if (gcs().out_of_time()) {
return;
}
@ -805,7 +805,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
send_message(MSG_RADIO_IN);
}
if (sub.gcs_out_of_time) {
if (gcs().out_of_time()) {
return;
}
@ -815,7 +815,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
send_message(MSG_PID_TUNING);
}
if (sub.gcs_out_of_time) {
if (gcs().out_of_time()) {
return;
}
@ -823,7 +823,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
send_message(MSG_VFR_HUD);
}
if (sub.gcs_out_of_time) {
if (gcs().out_of_time()) {
return;
}
@ -849,7 +849,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
#endif
}
if (sub.gcs_out_of_time) {
if (gcs().out_of_time()) {
return;
}
}

1
ArduSub/Sub.cpp
View File

@ -77,7 +77,6 @@ Sub::Sub(void) :
terrain(ahrs, mission, rally),
#endif
in_mavlink_delay(false),
gcs_out_of_time(false),
param_loader(var_info),
last_pilot_yaw_input_ms(0)
{

3
ArduSub/Sub.h
View File

@ -451,9 +451,6 @@ private:
// use this to prevent recursion during sensor init
bool in_mavlink_delay;
// true if we are out of time in our event timeslice
bool gcs_out_of_time;
// Top-level logic
// setup the var_info table
AP_Param param_loader;