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Plane: move gcs_out_of_time into GCS object

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This commit is contained in:
Peter Barker 2017-08-21 12:32:42 +10:00 committed by Francisco Ferreira
parent 25a32c93f2
commit aee939f891
2 changed files with 12 additions and 15 deletions
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24
ArduPlane/GCS_Mavlink.cpp
View File

@ -427,7 +427,7 @@ bool GCS_MAVLINK_Plane::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 (!plane.in_mavlink_delay && plane.scheduler.time_available_usec() < 200) {
plane.gcs_out_of_time = true;
gcs().set_out_of_time(true);
return false;
}
@ -725,7 +725,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
void
GCS_MAVLINK_Plane::data_stream_send(void)
{
plane.gcs_out_of_time = false;
gcs().set_out_of_time(false);
if (!plane.in_mavlink_delay) {
plane.DataFlash.handle_log_send(*this);
@ -733,7 +733,7 @@ GCS_MAVLINK_Plane::data_stream_send(void)
send_queued_parameters();
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (plane.in_mavlink_delay) {
#if HIL_SUPPORT
@ -753,7 +753,7 @@ GCS_MAVLINK_Plane::data_stream_send(void)
return;
}
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_RAW_SENSORS)) {
send_message(MSG_RAW_IMU1);
@ -761,7 +761,7 @@ GCS_MAVLINK_Plane::data_stream_send(void)
send_message(MSG_RAW_IMU3);
}
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTENDED_STATUS)) {
send_message(MSG_EXTENDED_STATUS1);
@ -776,7 +776,7 @@ GCS_MAVLINK_Plane::data_stream_send(void)
send_message(MSG_POSITION_TARGET_GLOBAL_INT);
}
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_POSITION)) {
// sent with GPS read
@ -784,20 +784,20 @@ GCS_MAVLINK_Plane::data_stream_send(void)
send_message(MSG_LOCAL_POSITION);
}
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
send_message(MSG_SERVO_OUT);
}
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_SERVO_OUTPUT_RAW);
send_message(MSG_RADIO_IN);
}
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
@ -811,13 +811,13 @@ GCS_MAVLINK_Plane::data_stream_send(void)
send_message(MSG_LANDING);
}
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTRA2)) {
send_message(MSG_VFR_HUD);
}
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS);
@ -839,7 +839,7 @@ GCS_MAVLINK_Plane::data_stream_send(void)
send_message(MSG_VIBRATION);
}
if (plane.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_ADSB)) {
send_message(MSG_ADSB_VEHICLE);

3
ArduPlane/Plane.h
View File

@ -794,9 +794,6 @@ private:
// use this to prevent recursion during sensor init
bool in_mavlink_delay = false;
// true if we are out of time in our event timeslice
bool gcs_out_of_time = false;
// time that rudder arming has been running
uint32_t rudder_arm_timer;