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Rover: split DISTANCE_SENSOR onto its own ap_message id

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This commit is contained in:
Peter Barker 2018-12-18 21:47:19 +11:00 committed by Peter Barker
parent 77be393ad4
commit f8f5faa6b9
3 changed files with 6 additions and 11 deletions
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14
APMrover2/GCS_Mavlink.cpp
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@ -145,15 +145,15 @@ int16_t GCS_MAVLINK_Rover::vfr_hud_throttle() const
return rover.g2.motors.get_throttle(); return rover.g2.motors.get_throttle();
} }
void Rover::send_rangefinder(mavlink_channel_t chan) void GCS_MAVLINK_Rover::send_rangefinder() const
{ {
float distance_cm; float distance_cm;
float voltage; float voltage;
bool got_one = false; bool got_one = false;
// report smaller distance of all rangefinders // report smaller distance of all rangefinders
for (uint8_t i=0; i<rangefinder.num_sensors(); i++) { for (uint8_t i=0; i<rover.rangefinder.num_sensors(); i++) {
AP_RangeFinder_Backend *s = rangefinder.get_backend(i); AP_RangeFinder_Backend *s = rover.rangefinder.get_backend(i);
if (s == nullptr) { if (s == nullptr) {
continue; continue;
} }
@ -340,13 +340,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
rover.send_servo_out(chan); rover.send_servo_out(chan);
break; break;
case MSG_RANGEFINDER:
CHECK_PAYLOAD_SIZE(RANGEFINDER);
rover.send_rangefinder(chan);
send_distance_sensor();
send_proximity();
break;
case MSG_RPM: case MSG_RPM:
CHECK_PAYLOAD_SIZE(RPM); CHECK_PAYLOAD_SIZE(RPM);
rover.send_wheel_encoder(chan); rover.send_wheel_encoder(chan);
@ -512,6 +505,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_HWSTATUS, MSG_HWSTATUS,
MSG_WIND, MSG_WIND,
MSG_RANGEFINDER, MSG_RANGEFINDER,
MSG_DISTANCE_SENSOR,
MSG_SYSTEM_TIME, MSG_SYSTEM_TIME,
MSG_BATTERY2, MSG_BATTERY2,
MSG_BATTERY_STATUS, MSG_BATTERY_STATUS,

2
APMrover2/GCS_Mavlink.h
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@ -48,4 +48,6 @@ private:
int16_t vfr_hud_throttle() const override; int16_t vfr_hud_throttle() const override;
void send_rangefinder() const override;
}; };

1
APMrover2/Rover.h
View File

@ -434,7 +434,6 @@ private:
void send_sys_status(mavlink_channel_t chan); void send_sys_status(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan); void send_nav_controller_output(mavlink_channel_t chan);
void send_servo_out(mavlink_channel_t chan); void send_servo_out(mavlink_channel_t chan);
void send_rangefinder(mavlink_channel_t chan);
void send_pid_tuning(mavlink_channel_t chan); void send_pid_tuning(mavlink_channel_t chan);
void send_wheel_encoder(mavlink_channel_t chan); void send_wheel_encoder(mavlink_channel_t chan);
void send_fence_status(mavlink_channel_t chan); void send_fence_status(mavlink_channel_t chan);