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GCS_MAVLink: remove code for sending of BATTERY2 message

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Peter Barker 2025-01-14 20:15:26 +11:00 committed by Peter Barker
parent 716916034a
commit cc0669ffa3
3 changed files with 0 additions and 39 deletions
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3
libraries/GCS_MAVLink/GCS.h
View File

@ -373,9 +373,6 @@ public:
void send_simstate() const;
void send_sim_state() const;
void send_ahrs();
#if AP_MAVLINK_BATTERY2_ENABLED
void send_battery2();
#endif
void send_opticalflow();
virtual void send_attitude() const;
virtual void send_attitude_quaternion() const;

28
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1071,9 +1071,6 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_TERRAIN_REQUEST, MSG_TERRAIN_REQUEST},
{ MAVLINK_MSG_ID_TERRAIN_REPORT, MSG_TERRAIN_REPORT},
#endif
#if AP_MAVLINK_BATTERY2_ENABLED
{ MAVLINK_MSG_ID_BATTERY2, MSG_BATTERY2},
#endif
#if AP_CAMERA_ENABLED
{ MAVLINK_MSG_ID_CAMERA_FEEDBACK, MSG_CAMERA_FEEDBACK},
{ MAVLINK_MSG_ID_CAMERA_INFORMATION, MSG_CAMERA_INFORMATION},
@ -2790,24 +2787,6 @@ void GCS::setup_uarts()
#endif
}
#if AP_BATTERY_ENABLED && AP_MAVLINK_BATTERY2_ENABLED
// report battery2 state
void GCS_MAVLINK::send_battery2()
{
const AP_BattMonitor &battery = AP::battery();
if (battery.num_instances() > 1) {
float current;
if (battery.current_amps(current, 1)) {
current = constrain_float(current * 100,-INT16_MAX,INT16_MAX); // 10*mA
} else {
current = -1;
}
mavlink_msg_battery2_send(chan, battery.voltage(1)*1000, current);
}
}
#endif // AP_BATTERY_ENABLED && AP_MAVLINK_BATTERY2_ENABLED
/*
handle a SET_MODE MAVLink message
*/
@ -6170,13 +6149,6 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
case MSG_BATTERY_STATUS:
send_battery_status();
break;
#if AP_MAVLINK_BATTERY2_ENABLED
case MSG_BATTERY2:
CHECK_PAYLOAD_SIZE(BATTERY2);
send_battery2();
break;
#endif
#endif // AP_BATTERY_ENABLED
#if AP_AHRS_ENABLED

8
libraries/GCS_MAVLink/GCS_config.h
View File

@ -13,14 +13,6 @@
#define HAL_MAVLINK_BINDINGS_ENABLED HAL_GCS_ENABLED
#endif
// CODE_REMOVAL
// BATTERY2 is slated to be removed:
// ArduPilot 4.6 stops compiling support in
// ArduPilot 4.7 removes the code entirely
#ifndef AP_MAVLINK_BATTERY2_ENABLED
#define AP_MAVLINK_BATTERY2_ENABLED 0
#endif
#ifndef HAL_HIGH_LATENCY2_ENABLED
#define HAL_HIGH_LATENCY2_ENABLED 1
#endif