Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: stop sending SENSOR_OFFSETS

Browse Source 
Only works for first compass instance.

We have all of these in parameters anyway.
This commit is contained in:
Peter Barker 2021-08-17 22:08:59 +10:00 committed by Andrew Tridgell
parent 3483df5303
commit a91d30369e
3 changed files with 0 additions and 47 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/GCS_MAVLink/GCS.h
View File

@ -244,7 +244,6 @@ public:
void send_scaled_pressure(); void send_scaled_pressure();
void send_scaled_pressure2(); void send_scaled_pressure2();
virtual void send_scaled_pressure3(); // allow sub to override this virtual void send_scaled_pressure3(); // allow sub to override this
void send_sensor_offsets();
void send_simstate() const; void send_simstate() const;
void send_sim_state() const; void send_sim_state() const;
void send_ahrs(); void send_ahrs();
@ -867,12 +866,6 @@ private:
uint8_t last_battery_status_idx; uint8_t last_battery_status_idx;
// send_sensor_offsets decimates its send rate using this counter:
// FIXME: decimate this instead when initialising the message
// intervals from the stream rates. Consider the implications of
// doing so vis-a-vis the fact it will consume a bucket.
uint8_t send_sensor_offsets_counter;
// if we've ever sent a DISTANCE_SENSOR message out of an // if we've ever sent a DISTANCE_SENSOR message out of an
// orientation we continue to send it out, even if it is not // orientation we continue to send it out, even if it is not
// longer valid. // longer valid.

39
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -807,7 +807,6 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_SCALED_PRESSURE, MSG_SCALED_PRESSURE}, { MAVLINK_MSG_ID_SCALED_PRESSURE, MSG_SCALED_PRESSURE},
{ MAVLINK_MSG_ID_SCALED_PRESSURE2, MSG_SCALED_PRESSURE2}, { MAVLINK_MSG_ID_SCALED_PRESSURE2, MSG_SCALED_PRESSURE2},
{ MAVLINK_MSG_ID_SCALED_PRESSURE3, MSG_SCALED_PRESSURE3}, { MAVLINK_MSG_ID_SCALED_PRESSURE3, MSG_SCALED_PRESSURE3},
{ MAVLINK_MSG_ID_SENSOR_OFFSETS, MSG_SENSOR_OFFSETS},
{ MAVLINK_MSG_ID_GPS_RAW_INT, MSG_GPS_RAW}, { MAVLINK_MSG_ID_GPS_RAW_INT, MSG_GPS_RAW},
{ MAVLINK_MSG_ID_GPS_RTK, MSG_GPS_RTK}, { MAVLINK_MSG_ID_GPS_RTK, MSG_GPS_RTK},
{ MAVLINK_MSG_ID_GPS2_RAW, MSG_GPS2_RAW}, { MAVLINK_MSG_ID_GPS2_RAW, MSG_GPS2_RAW},
@ -1822,39 +1821,6 @@ void GCS_MAVLINK::send_scaled_pressure3()
send_scaled_pressure_instance(2, mavlink_msg_scaled_pressure3_send); send_scaled_pressure_instance(2, mavlink_msg_scaled_pressure3_send);
} }
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
if (send_sensor_offsets_counter++ < 10) {
return;
}
send_sensor_offsets_counter = 0;
const Vector3f &mag_offsets = compass.get_offsets(0);
const Vector3f &accel_offsets = ins.get_accel_offsets(0);
const Vector3f &gyro_offsets = ins.get_gyro_offsets(0);
const AP_Baro &barometer = AP::baro();
mavlink_msg_sensor_offsets_send(chan,
mag_offsets.x,
mag_offsets.y,
mag_offsets.z,
compass.get_declination(),
barometer.get_pressure(),
barometer.get_temperature()*100,
gyro_offsets.x,
gyro_offsets.y,
gyro_offsets.z,
accel_offsets.x,
accel_offsets.y,
accel_offsets.z);
}
void GCS_MAVLINK::send_ahrs() void GCS_MAVLINK::send_ahrs()
{ {
const AP_AHRS &ahrs = AP::ahrs(); const AP_AHRS &ahrs = AP::ahrs();
@ -5018,11 +4984,6 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_scaled_pressure3(); send_scaled_pressure3();
break; break;
case MSG_SENSOR_OFFSETS:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_sensor_offsets();
break;
case MSG_SERVO_OUTPUT_RAW: case MSG_SERVO_OUTPUT_RAW:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW); CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
send_servo_output_raw(); send_servo_output_raw();

1
libraries/GCS_MAVLink/ap_message.h
View File

@ -27,7 +27,6 @@ enum ap_message : uint8_t {
MSG_SCALED_PRESSURE, MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2, MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3, MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS,
MSG_GPS_RAW, MSG_GPS_RAW,
MSG_GPS_RTK, MSG_GPS_RTK,
MSG_GPS2_RAW, MSG_GPS2_RAW,