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Copter: move send_attitude up to GCS_MAVLINK

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This commit is contained in:
Peter Barker 2018-05-02 16:51:00 +10:00 committed by Peter Barker
parent 2b68ab4d87
commit da1b2579c4
2 changed files with 0 additions and 20 deletions
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1
ArduCopter/Copter.h
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@ -758,7 +758,6 @@ private:
// GCS_Mavlink.cpp
void gcs_send_heartbeat(void);
void gcs_send_deferred(void);
void send_attitude(mavlink_channel_t chan);
void send_fence_status(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan);
void send_location(mavlink_channel_t chan);

19
ArduCopter/GCS_Mavlink.cpp
View File

@ -98,20 +98,6 @@ MAV_STATE GCS_MAVLINK_Copter::system_status() const
}
NOINLINE void Copter::send_attitude(mavlink_channel_t chan)
{
const Vector3f &gyro = ins.get_gyro();
mavlink_msg_attitude_send(
chan,
millis(),
ahrs.roll,
ahrs.pitch,
ahrs.yaw,
gyro.x,
gyro.y,
gyro.z);
}
#if AC_FENCE == ENABLED
NOINLINE void Copter::send_fence_status(mavlink_channel_t chan)
{
@ -319,11 +305,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
}
break;
case MSG_ATTITUDE:
CHECK_PAYLOAD_SIZE(ATTITUDE);
copter.send_attitude(chan);
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
copter.send_location(chan);