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GCS_MAVLink: move try_send_message handling of RC_CHANNELS_RAW up

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This commit is contained in:
Peter Barker 2018-05-02 20:18:08 +10:00 committed by Francisco Ferreira
parent ac2fe5f042
commit b76fa57108
2 changed files with 13 additions and 2 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -162,7 +162,7 @@ public:
bool send_proximity(const AP_Proximity &proximity) const;
void send_ahrs2();
void send_system_time();
void send_radio_in(uint8_t receiver_rssi);
void send_radio_in();
void send_raw_imu(const AP_InertialSensor &ins, const Compass &compass);
void send_scaled_pressure();
void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass);

13
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -951,8 +951,14 @@ void GCS_MAVLINK::send_system_time()
/*
send RC_CHANNELS messages
*/
void GCS_MAVLINK::send_radio_in(uint8_t receiver_rssi)
void GCS_MAVLINK::send_radio_in()
{
AP_RSSI *rssi = AP::rssi();
uint8_t receiver_rssi = 0;
if (rssi != nullptr) {
receiver_rssi = rssi->read_receiver_rssi_uint8();
}
uint32_t now = AP_HAL::millis();
mavlink_status_t *status = mavlink_get_channel_status(chan);
@ -2674,6 +2680,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_local_position();
break;
case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
send_radio_in();
break;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs();