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AP_Airspeed: use send_to_active_channels for airspeed_autocal

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This commit is contained in:
Peter Barker 2019-06-27 09:47:38 +10:00 committed by Peter Barker
parent 6442dd1f2f
commit 04ebb9de0b
1 changed files with 16 additions and 23 deletions
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39
libraries/AP_Airspeed/Airspeed_Calibration.cpp
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@ -165,27 +165,20 @@ void AP_Airspeed::update_calibration(const Vector3f &vground, int16_t max_airspe
void AP_Airspeed::send_airspeed_calibration(const Vector3f &vground)
{
for (uint8_t i=0; i<gcs().num_gcs(); i++) {
if (!gcs().chan(i).initialised) {
continue;
}
const mavlink_channel_t chan = (mavlink_channel_t)i;
if (!HAVE_PAYLOAD_SPACE(chan, AIRSPEED_AUTOCAL)) {
continue;
}
mavlink_msg_airspeed_autocal_send(
chan,
vground.x,
vground.y,
vground.z,
get_differential_pressure(primary),
AP::baro().get_EAS2TAS(),
param[primary].ratio.get(),
state[primary].calibration.state.x,
state[primary].calibration.state.y,
state[primary].calibration.state.z,
state[primary].calibration.P.a.x,
state[primary].calibration.P.b.y,
state[primary].calibration.P.c.z);
}
const mavlink_airspeed_autocal_t packet{
vground.x,
vground.y,
vground.z,
get_differential_pressure(primary),
AP::baro().get_EAS2TAS(),
param[primary].ratio.get(),
state[primary].calibration.state.x,
state[primary].calibration.state.y,
state[primary].calibration.state.z,
state[primary].calibration.P.a.x,
state[primary].calibration.P.b.y,
state[primary].calibration.P.c.z
};
gcs().send_to_active_channels(MAVLINK_MSG_ID_AIRSPEED_AUTOCAL,
(const char *)&packet);
}