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Sub: override sending of scaled_pressure3 

Without this change we run the risk of sending out the same message with
vastly different data in it
This commit is contained in:
Peter Barker 2018-05-03 12:06:53 +10:00 committed by Peter Barker
parent 695c52be05
commit c91ba19e7f
3 changed files with 6 additions and 10 deletions
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12
ArduSub/GCS_Mavlink.cpp
View File

@ -351,9 +351,9 @@ void NOINLINE Sub::send_rpm(mavlink_channel_t chan)
#endif
// Work around to get temperature sensor data out
void NOINLINE Sub::send_temperature(mavlink_channel_t chan)
void GCS_MAVLINK_Sub::send_scaled_pressure3()
{
if (!celsius.healthy()) {
if (!sub.celsius.healthy()) {
return;
}
mavlink_msg_scaled_pressure3_send(
@ -361,7 +361,7 @@ void NOINLINE Sub::send_temperature(mavlink_channel_t chan)
AP_HAL::millis(),
0,
0,
celsius.temperature() * 100);
sub.celsius.temperature() * 100);
}
bool GCS_MAVLINK_Sub::send_info()
@ -519,12 +519,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
sub.send_vfr_hud(chan);
break;
case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
send_scaled_pressure();
sub.send_temperature(chan);
break;
case MSG_RPM:
#if RPM_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RPM);

3
ArduSub/GCS_Mavlink.h
View File

@ -27,6 +27,9 @@ protected:
MAV_RESULT _handle_command_preflight_calibration_baro() override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
// override sending of scaled_pressure3 to send on-board temperature:
void send_scaled_pressure3() override;
private:
void handleMessage(mavlink_message_t * msg) override;

1
ArduSub/Sub.h
View File

@ -486,7 +486,6 @@ private:
void send_rpm(mavlink_channel_t chan);
void rpm_update();
#endif
void send_temperature(mavlink_channel_t chan);
void send_pid_tuning(mavlink_channel_t chan);
void gcs_data_stream_send(void);
void gcs_check_input(void);