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Plane: cleanup unnecessarily complex gcs[] usage

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This commit is contained in:
Andrew Tridgell 2016-05-17 08:27:01 +10:00
parent e4948544e7
commit e3b2e90a27
1 changed files with 17 additions and 17 deletions
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34
ArduPlane/GCS_Mavlink.cpp
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@ -656,7 +656,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
switch (id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
plane.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = AP_HAL::millis();
last_heartbeat_time = AP_HAL::millis();
plane.send_heartbeat(chan);
return true;
@ -664,12 +664,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
CHECK_PAYLOAD_SIZE(SYS_STATUS);
plane.send_extended_status1(chan);
CHECK_PAYLOAD_SIZE2(POWER_STATUS);
plane.gcs[chan-MAVLINK_COMM_0].send_power_status();
send_power_status();
break;
case MSG_EXTENDED_STATUS2:
CHECK_PAYLOAD_SIZE(MEMINFO);
plane.gcs[chan-MAVLINK_COMM_0].send_meminfo();
send_meminfo();
break;
case MSG_ATTITUDE:
@ -703,12 +703,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
plane.gcs[chan-MAVLINK_COMM_0].send_gps_raw(plane.gps);
send_gps_raw(plane.gps);
break;
case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
plane.gcs[chan-MAVLINK_COMM_0].send_system_time(plane.gps);
send_system_time(plane.gps);
break;
case MSG_SERVO_OUT:
@ -722,7 +722,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
plane.gcs[chan-MAVLINK_COMM_0].send_radio_in(plane.receiver_rssi);
send_radio_in(plane.receiver_rssi);
break;
case MSG_RADIO_OUT:
@ -737,17 +737,17 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU);
plane.gcs[chan-MAVLINK_COMM_0].send_raw_imu(plane.ins, plane.compass);
send_raw_imu(plane.ins, plane.compass);
break;
case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
plane.gcs[chan-MAVLINK_COMM_0].send_scaled_pressure(plane.barometer);
send_scaled_pressure(plane.barometer);
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
plane.gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(plane.ins, plane.compass, plane.barometer);
send_sensor_offsets(plane.ins, plane.compass, plane.barometer);
break;
case MSG_CURRENT_WAYPOINT:
@ -757,12 +757,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
plane.gcs[chan-MAVLINK_COMM_0].queued_param_send();
queued_param_send();
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
plane.gcs[chan-MAVLINK_COMM_0].queued_waypoint_send();
queued_waypoint_send();
break;
case MSG_STATUSTEXT:
@ -778,14 +778,14 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
plane.gcs[chan-MAVLINK_COMM_0].send_ahrs(plane.ahrs);
send_ahrs(plane.ahrs);
break;
case MSG_SIMSTATE:
CHECK_PAYLOAD_SIZE(SIMSTATE);
plane.send_simstate(chan);
CHECK_PAYLOAD_SIZE2(AHRS2);
plane.gcs[chan-MAVLINK_COMM_0].send_ahrs2(plane.ahrs);
send_ahrs2(plane.ahrs);
break;
case MSG_HWSTATUS:
@ -814,7 +814,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_BATTERY2:
CHECK_PAYLOAD_SIZE(BATTERY2);
plane.gcs[chan-MAVLINK_COMM_0].send_battery2(plane.battery);
send_battery2(plane.battery);
break;
case MSG_WIND:
@ -832,7 +832,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_OPTICAL_FLOW:
#if OPTFLOW == ENABLED
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
plane.gcs[chan-MAVLINK_COMM_0].send_opticalflow(plane.ahrs, plane.optflow);
send_opticalflow(plane.ahrs, plane.optflow);
#endif
break;
@ -1554,7 +1554,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) {
plane.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION);
send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED;
}
break;
@ -2033,7 +2033,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
plane.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION);
send_autopilot_version(FIRMWARE_VERSION);
break;
case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS: