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Plane: remove pointless wrappers around gcs functions

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This commit is contained in:
Peter Barker 2018-11-22 20:34:03 +11:00 committed by Peter Barker
parent 5dcf4dfffc
commit 03b71e1123
3 changed files with 6 additions and 33 deletions
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8
ArduPlane/ArduPlane.cpp
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@ -40,7 +40,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(stabilize, 400, 100),
SCHED_TASK(set_servos, 400, 100),
SCHED_TASK(read_control_switch, 7, 100),
SCHED_TASK(gcs_retry_deferred, 50, 500),
SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, retry_deferred, 50, 500),
SCHED_TASK(update_GPS_50Hz, 50, 300),
SCHED_TASK(update_GPS_10Hz, 10, 400),
SCHED_TASK(navigate, 10, 150),
@ -49,8 +49,8 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(update_alt, 10, 200),
SCHED_TASK(adjust_altitude_target, 10, 200),
SCHED_TASK(afs_fs_check, 10, 100),
SCHED_TASK(gcs_update, 50, 500),
SCHED_TASK(gcs_data_stream_send, 50, 500),
SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update, 50, 500),
SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, data_stream_send, 50, 500),
SCHED_TASK(update_events, 50, 150),
SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read, 10, 300),
SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate, 50, 150),
@ -147,7 +147,7 @@ void Plane::ahrs_update()
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// update hil before AHRS update
gcs_update();
gcs().update();
}
#endif

28
ArduPlane/GCS_Mavlink.cpp
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@ -1467,8 +1467,8 @@ void Plane::mavlink_delay_cb()
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
gcs().update();
gcs().data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
@ -1479,22 +1479,6 @@ void Plane::mavlink_delay_cb()
DataFlash.EnableWrites(true);
}
/*
* send data streams in the given rate range on both links
*/
void Plane::gcs_data_stream_send(void)
{
gcs().data_stream_send();
}
/*
* look for incoming commands on the GCS links
*/
void Plane::gcs_update(void)
{
gcs().update();
}
/*
send airspeed calibration data
*/
@ -1503,14 +1487,6 @@ void Plane::gcs_send_airspeed_calibration(const Vector3f &vg)
gcs().send_airspeed_calibration(vg);
}
/**
retry any deferred messages
*/
void Plane::gcs_retry_deferred(void)
{
gcs().retry_deferred();
}
/*
return true if we will accept this packet. Used to implement SYSID_ENFORCE
*/

3
ArduPlane/Plane.h
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@ -810,10 +810,7 @@ private:
void send_aoa_ssa(mavlink_channel_t chan);
void gcs_data_stream_send(void);
void gcs_update(void);
void gcs_send_airspeed_calibration(const Vector3f &vg);
void gcs_retry_deferred(void);
void Log_Write_Fast(void);
void Log_Write_Attitude(void);