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GCS_MAVLink: use generic send_esc_telemetry_mavlink() from AP_ESC_Telem

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This commit is contained in:
Andy Piper 2021-03-03 09:03:38 +00:00 committed by Andrew Tridgell
parent e19bf8149b
commit fca6925129
1 changed files with 3 additions and 52 deletions
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55
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -5058,60 +5058,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_autopilot_version(); send_autopilot_version();
break; break;
case MSG_ESC_TELEMETRY: { case MSG_ESC_TELEMETRY:
#ifdef HAVE_AP_BLHELI_SUPPORT #if HAL_WITH_ESC_TELEM
CHECK_PAYLOAD_SIZE(ESC_TELEMETRY_1_TO_4); AP::esc_telem().send_esc_telemetry_mavlink(uint8_t(chan));
AP_BLHeli *blheli = AP_BLHeli::get_singleton();
if (blheli) {
blheli->send_esc_telemetry_mavlink(uint8_t(chan));
}
#endif
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
switch (AP::can().get_driver_type(i)) {
case AP_CANManager::Driver_Type_KDECAN: {
// To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i);
if (ap_kdecan != nullptr) {
ap_kdecan->send_mavlink(uint8_t(chan));
}
#endif
break;
}
case AP_CANManager::Driver_Type_ToshibaCAN: {
AP_ToshibaCAN *ap_tcan = AP_ToshibaCAN::get_tcan(i);
if (ap_tcan != nullptr) {
ap_tcan->send_esc_telemetry_mavlink(uint8_t(chan));
}
break;
}
#if HAL_PICCOLO_CAN_ENABLE
case AP_CANManager::Driver_Type_PiccoloCAN: {
AP_PiccoloCAN *ap_pcan = AP_PiccoloCAN::get_pcan(i);
if (ap_pcan != nullptr) {
ap_pcan->send_esc_telemetry_mavlink(uint8_t(chan));
}
break;
}
#endif
case AP_CANManager::Driver_Type_UAVCAN: {
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan != nullptr) {
ap_uavcan->send_esc_telemetry_mavlink(uint8_t(chan));
}
break;
}
case AP_CANManager::Driver_Type_None:
default:
break;
}
}
#endif #endif
break; break;
}
case MSG_EFI_STATUS: { case MSG_EFI_STATUS: {
#if EFI_ENABLED #if EFI_ENABLED