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Copter: move sending of fence_status message up

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Peter Barker 2019-01-31 13:11:15 +11:00 committed by Randy Mackay
parent 9b16d1bbd3
commit 1412921561
3 changed files with 0 additions and 40 deletions
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2
ArduCopter/Copter.h
View File

@ -724,11 +724,9 @@ private:
// fence.cpp
void fence_check();
void fence_send_mavlink_status(mavlink_channel_t chan);
// GCS_Mavlink.cpp
void gcs_send_heartbeat(void);
void send_fence_status(mavlink_channel_t chan);
void send_sys_status(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
void send_rpm(mavlink_channel_t chan);

15
ArduCopter/GCS_Mavlink.cpp
View File

@ -118,14 +118,6 @@ void GCS_MAVLINK_Copter::send_position_target_global_int()
0.0f); // yaw_rate
}
#if AC_FENCE == ENABLED
NOINLINE void Copter::send_fence_status(mavlink_channel_t chan)
{
fence_send_mavlink_status(chan);
}
#endif
NOINLINE void Copter::send_sys_status(mavlink_channel_t chan)
{
int16_t battery_current = -1;
@ -306,13 +298,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
#endif
break;
case MSG_FENCE_STATUS:
#if AC_FENCE == ENABLED
CHECK_PAYLOAD_SIZE(FENCE_STATUS);
copter.send_fence_status(chan);
#endif
break;
case MSG_WIND:
case MSG_SERVO_OUT:
case MSG_AOA_SSA:

23
ArduCopter/fence.cpp
View File

@ -78,27 +78,4 @@ void Copter::fence_check()
}
}
// fence_send_mavlink_status - send fence status to ground station
void Copter::fence_send_mavlink_status(mavlink_channel_t chan)
{
if (fence.enabled()) {
// traslate fence library breach types to mavlink breach types
uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
uint8_t breaches = fence.get_breaches();
if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
mavlink_breach_type = FENCE_BREACH_MAXALT;
}
if ((breaches & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) != 0) {
mavlink_breach_type = FENCE_BREACH_BOUNDARY;
}
// send status
mavlink_msg_fence_status_send(chan,
(int8_t)(fence.get_breaches()!=0),
fence.get_breach_count(),
mavlink_breach_type,
fence.get_breach_time());
}
}
#endif