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AP_Follow: remove send-text to GCS

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This commit is contained in:
Randy Mackay 2018-12-08 13:21:07 +09:00
parent a2fa63bcf7
commit 962d449352
2 changed files with 0 additions and 11 deletions
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9
libraries/AP_Follow/AP_Follow.cpp
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@ -23,7 +23,6 @@ extern const AP_HAL::HAL& hal;
#define AP_FOLLOW_TIMEOUT_MS 3000 // position estimate timeout after 1 second #define AP_FOLLOW_TIMEOUT_MS 3000 // position estimate timeout after 1 second
#define AP_FOLLOW_SYSID_TIMEOUT_MS 10000 // forget sysid we are following if we haave not heard from them in 10 seconds #define AP_FOLLOW_SYSID_TIMEOUT_MS 10000 // forget sysid we are following if we haave not heard from them in 10 seconds
#define AP_GCS_INTERVAL_MS 1000 // interval between updating GCS on position of vehicle
#define AP_FOLLOW_OFFSET_TYPE_NED 0 // offsets are in north-east-down frame #define AP_FOLLOW_OFFSET_TYPE_NED 0 // offsets are in north-east-down frame
#define AP_FOLLOW_OFFSET_TYPE_RELATIVE 1 // offsets are relative to lead vehicle's heading #define AP_FOLLOW_OFFSET_TYPE_RELATIVE 1 // offsets are relative to lead vehicle's heading
@ -293,14 +292,6 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg)
_sysid.set(msg.sysid); _sysid.set(msg.sysid);
_automatic_sysid = true; _automatic_sysid = true;
} }
if ((now - _last_location_sent_to_gcs) > AP_GCS_INTERVAL_MS) {
_last_location_sent_to_gcs = now;
gcs().send_text(MAV_SEVERITY_INFO, "Foll: %u %ld %ld %4.2f\n",
(unsigned)_sysid.get(),
(long)_target_location.lat,
(long)_target_location.lng,
(double)(_target_location.alt * 0.01f)); // cm to m
}
// log lead's estimated vs reported position // log lead's estimated vs reported position
DataFlash_Class::instance()->Log_Write("FOLL", DataFlash_Class::instance()->Log_Write("FOLL",

2
libraries/AP_Follow/AP_Follow.h
View File

@ -108,7 +108,5 @@ private:
Vector3f _target_accel_ned; // last known acceleration of target in NED frame in m/s/s Vector3f _target_accel_ned; // last known acceleration of target in NED frame in m/s/s
uint32_t _last_heading_update_ms; // system time of last heading update uint32_t _last_heading_update_ms; // system time of last heading update
float _target_heading; // heading in degrees float _target_heading; // heading in degrees
uint32_t _last_location_sent_to_gcs; // last time GCS was told position
bool _automatic_sysid; // did we lock onto a sysid automatically? bool _automatic_sysid; // did we lock onto a sysid automatically?
}; };