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Rover: move sending of fence_status up

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This commit is contained in:
Peter Barker 2019-01-31 13:10:47 +11:00 committed by Randy Mackay
parent f1907679e7
commit 9b16d1bbd3
3 changed files with 0 additions and 32 deletions
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10
APMrover2/GCS_Mavlink.cpp
View File

@ -274,11 +274,6 @@ void Rover::send_pid_tuning(mavlink_channel_t chan)
} }
} }
void Rover::send_fence_status(mavlink_channel_t chan)
{
fence_send_mavlink_status(chan);
}
void Rover::send_wheel_encoder(mavlink_channel_t chan) void Rover::send_wheel_encoder(mavlink_channel_t chan)
{ {
// send wheel encoder data using rpm message // send wheel encoder data using rpm message
@ -363,11 +358,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
rover.send_wheel_encoder_distance(chan); rover.send_wheel_encoder_distance(chan);
break; break;
case MSG_FENCE_STATUS:
CHECK_PAYLOAD_SIZE(FENCE_STATUS);
rover.send_fence_status(chan);
break;
case MSG_WIND: case MSG_WIND:
CHECK_PAYLOAD_SIZE(WIND); CHECK_PAYLOAD_SIZE(WIND);
rover.g2.windvane.send_wind(chan); rover.g2.windvane.send_wind(chan);

2
APMrover2/Rover.h
View File

@ -436,7 +436,6 @@ private:
// fence.cpp // fence.cpp
void fence_check(); void fence_check();
void fence_send_mavlink_status(mavlink_channel_t chan);
// GCS_Mavlink.cpp // GCS_Mavlink.cpp
void send_sys_status(mavlink_channel_t chan); void send_sys_status(mavlink_channel_t chan);
@ -445,7 +444,6 @@ private:
void send_pid_tuning(mavlink_channel_t chan); void send_pid_tuning(mavlink_channel_t chan);
void send_wheel_encoder(mavlink_channel_t chan); void send_wheel_encoder(mavlink_channel_t chan);
void send_wheel_encoder_distance(mavlink_channel_t chan); void send_wheel_encoder_distance(mavlink_channel_t chan);
void send_fence_status(mavlink_channel_t chan);
// Log.cpp // Log.cpp
void Log_Write_Arm_Disarm(); void Log_Write_Arm_Disarm();

20
APMrover2/fence.cpp
View File

@ -36,23 +36,3 @@ void Rover::fence_check()
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
} }
} }
// fence_send_mavlink_status - send fence status to ground station
void Rover::fence_send_mavlink_status(mavlink_channel_t chan)
{
if (g2.fence.enabled()) {
// traslate fence library breach types to mavlink breach types
uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
const uint8_t breaches = g2.fence.get_breaches();
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,
static_cast<int8_t>(g2.fence.get_breaches() != 0),
g2.fence.get_breach_count(),
mavlink_breach_type,
g2.fence.get_breach_time());
}
}