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GCS_MAVLink: move try_send_message sending of sensor offsets up

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Peter Barker 2018-05-03 11:38:22 +10:00 committed by Peter Barker
parent 5736aa6ef3
commit 8cb2b5809f
2 changed files with 10 additions and 2 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -174,7 +174,7 @@ public:
void send_radio_in();
void send_raw_imu();
void send_scaled_pressure();
void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass);
void send_sensor_offsets();
void send_ahrs();
void send_battery2();
#if AP_AHRS_NAVEKF_AVAILABLE

10
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1156,8 +1156,11 @@ void GCS_MAVLINK::send_scaled_pressure()
}
}
void GCS_MAVLINK::send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass)
void GCS_MAVLINK::send_sensor_offsets()
{
const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass();
// run this message at a much lower rate - otherwise it
// pointlessly wastes quite a lot of bandwidth
static uint8_t counter;
@ -2773,6 +2776,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_raw_imu();
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_sensor_offsets();
break;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs();