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Copter: use AHRS singleton in GCS_MAVLink

This commit is contained in:
Peter Barker 2018-01-06 12:28:00 +11:00 committed by Francisco Ferreira
parent 9d381c26a7
commit 9bffeb4117
1 changed files with 2 additions and 12 deletions
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14
ArduCopter/GCS_Mavlink.cpp
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@ -318,11 +318,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
copter.send_location(chan); copter.send_location(chan);
break; break;
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
send_local_position(copter.ahrs);
break;
case MSG_NAV_CONTROLLER_OUTPUT: case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT); CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
copter.send_nav_controller_output(chan); copter.send_nav_controller_output(chan);
@ -389,18 +384,13 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
#endif #endif
break; break;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(copter.ahrs);
break;
case MSG_SIMSTATE: case MSG_SIMSTATE:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
CHECK_PAYLOAD_SIZE(SIMSTATE); CHECK_PAYLOAD_SIZE(SIMSTATE);
copter.send_simstate(chan); copter.send_simstate(chan);
#endif #endif
CHECK_PAYLOAD_SIZE(AHRS2); CHECK_PAYLOAD_SIZE(AHRS2);
send_ahrs2(copter.ahrs); send_ahrs2();
break; break;
case MSG_MOUNT_STATUS: case MSG_MOUNT_STATUS:
@ -418,7 +408,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
case MSG_OPTICAL_FLOW: case MSG_OPTICAL_FLOW:
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW); CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
send_opticalflow(copter.ahrs, copter.optflow); send_opticalflow(copter.optflow);
#endif #endif
break; break;