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Tracker: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK

This commit is contained in:
Peter Barker 2018-05-01 22:04:54 +10:00 committed by Francisco Ferreira
parent 1ecd371cd0
commit fa2e7b3eb4
3 changed files with 4 additions and 28 deletions
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27
AntennaTracker/GCS_Mavlink.cpp
View File

@ -98,28 +98,6 @@ void Tracker::send_extended_status1(mavlink_channel_t chan)
0, 0, 0, 0);
}
void Tracker::send_location(mavlink_channel_t chan)
{
uint32_t fix_time;
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
fix_time = gps.last_fix_time_ms();
} else {
fix_time = AP_HAL::millis();
}
const Vector3f &vel = gps.velocity();
mavlink_msg_global_position_int_send(
chan,
fix_time,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
current_loc.alt * 10, // millimeters above sea level
0,
vel.x * 100, // X speed cm/s (+ve North)
vel.y * 100, // Y speed cm/s (+ve East)
vel.z * 100, // Z speed cm/s (+ve Down)
ahrs.yaw_sensor);
}
void Tracker::send_nav_controller_output(mavlink_channel_t chan)
{
float alt_diff = (g.alt_source == ALT_SOURCE_BARO) ? nav_status.alt_difference_baro : nav_status.alt_difference_gps;
@ -161,11 +139,6 @@ bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
{
switch (id) {
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
tracker.send_location(chan);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
tracker.send_nav_controller_output(chan);

4
AntennaTracker/GCS_Mavlink.h
View File

@ -26,6 +26,10 @@ protected:
MAV_RESULT _handle_command_preflight_calibration_baro() override;
int32_t global_position_int_relative_alt() const {
return 0; // what if we have been picked up and carried somewhere?
}
private:
void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;

1
AntennaTracker/Tracker.h
View File

@ -200,7 +200,6 @@ private:
void one_second_loop();
void ten_hz_logging_loop();
void send_extended_status1(mavlink_channel_t chan);
void send_location(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
void send_simstate(mavlink_channel_t chan);
void gcs_data_stream_send(void);