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Plane: move send_attitude into GCS_MAVLINK_Plane

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This commit is contained in:
Peter Barker 2018-05-02 16:51:32 +10:00 committed by Peter Barker
parent da1b2579c4
commit 6f8339028e
3 changed files with 10 additions and 12 deletions
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19
ArduPlane/GCS_Mavlink.cpp
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@ -109,16 +109,18 @@ MAV_STATE GCS_MAVLINK_Plane::system_status() const
}
void Plane::send_attitude(mavlink_channel_t chan)
void GCS_MAVLINK_Plane::send_attitude() const
{
const AP_AHRS &ahrs = AP::ahrs();
float r = ahrs.roll;
float p = ahrs.pitch - radians(g.pitch_trim_cd*0.01f);
float p = ahrs.pitch - radians(plane.g.pitch_trim_cd*0.01f);
float y = ahrs.yaw;
if (quadplane.tailsitter_active()) {
r = quadplane.ahrs_view->roll;
p = quadplane.ahrs_view->pitch;
y = quadplane.ahrs_view->yaw;
if (plane.quadplane.tailsitter_active()) {
r = plane.quadplane.ahrs_view->roll;
p = plane.quadplane.ahrs_view->pitch;
y = plane.quadplane.ahrs_view->yaw;
}
const Vector3f &omega = ahrs.get_gyro();
@ -423,11 +425,6 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
send_power_status();
break;
case MSG_ATTITUDE:
CHECK_PAYLOAD_SIZE(ATTITUDE);
plane.send_attitude(chan);
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
plane.send_location(chan);

2
ArduPlane/GCS_Mavlink.h
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@ -34,6 +34,8 @@ protected:
virtual bool in_hil_mode() const override;
void send_attitude() const override;
private:
void handleMessage(mavlink_message_t * msg) override;

1
ArduPlane/Plane.h
View File

@ -768,7 +768,6 @@ private:
void adjust_nav_pitch_throttle(void);
void update_load_factor(void);
void send_attitude(mavlink_channel_t chan);
void send_fence_status(mavlink_channel_t chan);
void update_sensor_status_flags(void);
void send_extended_status1(mavlink_channel_t chan);