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APM: don't send GPS_STATUS MAVLink message

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it now provides no useful information as satellites_visible is in
GPS_RAW_INT in MAVLink 1.0
This commit is contained in:
Andrew Tridgell 2012-09-21 07:30:28 +10:00
parent 96dc207d1d
commit 04111ebcdf
3 changed files with 0 additions and 31 deletions
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4
ArduPlane/GCS.h
View File

@ -43,7 +43,6 @@ public:
void init(FastSerial *port) { void init(FastSerial *port) {
_port = port; _port = port;
initialised = true; initialised = true;
last_gps_satellites = 255;
} }
/// Update GCS state. /// Update GCS state.
@ -86,9 +85,6 @@ public:
// set to true if this GCS link is active // set to true if this GCS link is active
bool initialised; bool initialised;
// used to prevent wasting bandwidth with GPS_STATUS messages
uint8_t last_gps_satellites;
protected: protected:
/// The stream we are communicating over /// The stream we are communicating over
FastSerial * _port; FastSerial * _port;

26
ArduPlane/GCS_Mavlink.pde
View File

@ -447,18 +447,6 @@ static void NOINLINE send_wind(mavlink_channel_t chan)
wind.z); wind.z);
} }
static void NOINLINE send_gps_status(mavlink_channel_t chan)
{
mavlink_msg_gps_status_send(
chan,
g_gps->num_sats,
NULL,
NULL,
NULL,
NULL,
NULL);
}
static void NOINLINE send_current_waypoint(mavlink_channel_t chan) static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{ {
mavlink_msg_mission_current_send( mavlink_msg_mission_current_send(
@ -584,11 +572,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break; break;
#endif // HIL_MODE != HIL_MODE_ATTITUDE #endif // HIL_MODE != HIL_MODE_ATTITUDE
case MSG_GPS_STATUS:
CHECK_PAYLOAD_SIZE(GPS_STATUS);
send_gps_status(chan);
break;
case MSG_CURRENT_WAYPOINT: case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_CURRENT); CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan); send_current_waypoint(chan);
@ -889,15 +872,6 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_GPS_RAW); // TODO - remove this message after location message is working send_message(MSG_GPS_RAW); // TODO - remove this message after location message is working
send_message(MSG_NAV_CONTROLLER_OUTPUT); send_message(MSG_NAV_CONTROLLER_OUTPUT);
send_message(MSG_FENCE_STATUS); send_message(MSG_FENCE_STATUS);
if (last_gps_satellites != g_gps->num_sats) {
// this message is mostly a huge waste of bandwidth,
// except it is the only message that gives the number
// of visible satellites. So only send it when that
// changes.
send_message(MSG_GPS_STATUS);
last_gps_satellites = g_gps->num_sats;
}
} }
if (stream_trigger(STREAM_POSITION)) { if (stream_trigger(STREAM_POSITION)) {

1
ArduPlane/defines.h
View File

@ -130,7 +130,6 @@ enum ap_message {
MSG_RAW_IMU1, MSG_RAW_IMU1,
MSG_RAW_IMU2, MSG_RAW_IMU2,
MSG_RAW_IMU3, MSG_RAW_IMU3,
MSG_GPS_STATUS,
MSG_GPS_RAW, MSG_GPS_RAW,
MSG_SERVO_OUT, MSG_SERVO_OUT,
MSG_NEXT_WAYPOINT, MSG_NEXT_WAYPOINT,