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Copter: move try_send_message of nav_controller_output up

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Peter Barker 2018-05-05 10:10:00 +10:00 committed by Andrew Tridgell
parent d1cada0e25
commit 9bc23d3f28
3 changed files with 5 additions and 9 deletions
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1
ArduCopter/Copter.h
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@ -718,7 +718,6 @@ private:
// GCS_Mavlink.cpp // GCS_Mavlink.cpp
void gcs_send_heartbeat(void); void gcs_send_heartbeat(void);
void send_nav_controller_output(mavlink_channel_t chan);
void send_rpm(mavlink_channel_t chan); void send_rpm(mavlink_channel_t chan);
// heli.cpp // heli.cpp

12
ArduCopter/GCS_Mavlink.cpp
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@ -129,9 +129,10 @@ void GCS_MAVLINK_Copter::get_sensor_status_flags(uint32_t &present,
health = copter.control_sensors_health; health = copter.control_sensors_health;
} }
void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan) void GCS_MAVLINK_Copter::send_nav_controller_output() const
{ {
const Vector3f &targets = attitude_control->get_att_target_euler_cd(); const Vector3f &targets = copter.attitude_control->get_att_target_euler_cd();
const Copter::Mode *flightmode = copter.flightmode;
mavlink_msg_nav_controller_output_send( mavlink_msg_nav_controller_output_send(
chan, chan,
targets.x * 1.0e-2f, targets.x * 1.0e-2f,
@ -139,7 +140,7 @@ void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
targets.z * 1.0e-2f, targets.z * 1.0e-2f,
flightmode->wp_bearing() * 1.0e-2f, flightmode->wp_bearing() * 1.0e-2f,
MIN(flightmode->wp_distance() * 1.0e-2f, UINT16_MAX), MIN(flightmode->wp_distance() * 1.0e-2f, UINT16_MAX),
pos_control->get_alt_error() * 1.0e-2f, copter.pos_control->get_alt_error() * 1.0e-2f,
0, 0,
flightmode->crosstrack_error() * 1.0e-2f); flightmode->crosstrack_error() * 1.0e-2f);
} }
@ -254,11 +255,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
switch(id) { switch(id) {
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
copter.send_nav_controller_output(chan);
break;
case MSG_RPM: case MSG_RPM:
#if RPM_ENABLED == ENABLED #if RPM_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RPM); CHECK_PAYLOAD_SIZE(RPM);

1
ArduCopter/GCS_Mavlink.h
View File

@ -39,6 +39,7 @@ protected:
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED; bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED; bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
void send_nav_controller_output() const override;
private: private: