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Copter: stop passing gcs chan into method which wants an object

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This commit is contained in:
Peter Barker 2019-06-22 09:49:52 +10:00 committed by Andrew Tridgell
parent 0b62641a46
commit f3c1791341
3 changed files with 5 additions and 7 deletions
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2
ArduCopter/Copter.h
View File

@ -670,7 +670,7 @@ private:
bool far_from_EKF_origin(const Location& loc); bool far_from_EKF_origin(const Location& loc);
// compassmot.cpp // compassmot.cpp
MAV_RESULT mavlink_compassmot(mavlink_channel_t chan); MAV_RESULT mavlink_compassmot(const GCS_MAVLINK &gcs_chan);
// crash_check.cpp // crash_check.cpp
void crash_check(); void crash_check();

2
ArduCopter/GCS_Mavlink.cpp
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@ -539,7 +539,7 @@ MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavli
{ {
if (is_equal(packet.param6,1.0f)) { if (is_equal(packet.param6,1.0f)) {
// compassmot calibration // compassmot calibration
return copter.mavlink_compassmot(chan); return copter.mavlink_compassmot(*this);
} }
return GCS_MAVLINK::_handle_command_preflight_calibration(packet); return GCS_MAVLINK::_handle_command_preflight_calibration(packet);

8
ArduCopter/compassmot.cpp
View File

@ -5,7 +5,7 @@
*/ */
// setup_compassmot - sets compass's motor interference parameters // setup_compassmot - sets compass's motor interference parameters
MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan) MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
{ {
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// compassmot not implemented for tradheli // compassmot not implemented for tradheli
@ -33,8 +33,6 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
ap.compass_mot = true; ap.compass_mot = true;
} }
GCS_MAVLINK_Copter &gcs_chan = gcs().chan(chan-MAVLINK_COMM_0);
// check compass is enabled // check compass is enabled
if (!AP::compass().enabled()) { if (!AP::compass().enabled()) {
gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Compass disabled"); gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
@ -85,7 +83,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
} }
// send back initial ACK // send back initial ACK
mavlink_msg_command_ack_send(chan, MAV_CMD_PREFLIGHT_CALIBRATION,0); mavlink_msg_command_ack_send(gcs_chan.get_chan(), MAV_CMD_PREFLIGHT_CALIBRATION,0);
// flash leds // flash leds
AP_Notify::flags.esc_calibration = true; AP_Notify::flags.esc_calibration = true;
@ -215,7 +213,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
if (AP_HAL::millis() - last_send_time > 500) { if (AP_HAL::millis() - last_send_time > 500) {
last_send_time = AP_HAL::millis(); last_send_time = AP_HAL::millis();
mavlink_msg_compassmot_status_send(chan, mavlink_msg_compassmot_status_send(gcs_chan.get_chan(),
channel_throttle->get_control_in(), channel_throttle->get_control_in(),
battery.current_amps(), battery.current_amps(),
interference_pct[compass.get_primary()], interference_pct[compass.get_primary()],