From aa757501f43dd4dd966aa7d44cde1c554cfe93bd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 27 Sep 2022 14:53:55 +1000
Subject: [PATCH] AP_Periph: removed the old DroneCAN Fix message

only send/process Fix2 message, saving bus bandwidth and flash space
---
 Tools/AP_Periph/can.cpp | 76 -----------------------------------------
 1 file changed, 76 deletions(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index d7759bda54..f67e9bc98b 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1877,82 +1877,6 @@ void AP_Periph_FW::can_gps_update(void)
     }
     last_gps_update_ms = gps.last_message_time_ms();
 
-    {
-        /*
-          send Fix packet
-        */
-        uavcan_equipment_gnss_Fix pkt {};
-        const Location &loc = gps.location();
-        const Vector3f &vel = gps.velocity();
-
-        pkt.timestamp.usec = AP_HAL::native_micros64();
-        pkt.gnss_timestamp.usec = gps.time_epoch_usec();
-        if (pkt.gnss_timestamp.usec == 0) {
-            pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_NONE;
-        } else {
-            pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_UTC;
-        }
-        pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
-        pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
-        pkt.height_msl_mm = loc.alt * 10;
-        pkt.height_ellipsoid_mm = loc.alt * 10;
-        float undulation;
-        if (gps.get_undulation(undulation)) {
-            pkt.height_ellipsoid_mm -= undulation*1000;
-        }
-        for (uint8_t i=0; i<3; i++) {
-            // the canard dsdl compiler doesn't understand float16
-            pkt.ned_velocity[i] = vel[i];
-        }
-        pkt.sats_used = gps.num_sats();
-        switch (gps.status()) {
-        case AP_GPS::GPS_Status::NO_GPS:
-        case AP_GPS::GPS_Status::NO_FIX:
-            pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_NO_FIX;
-            break;
-        case AP_GPS::GPS_Status::GPS_OK_FIX_2D:
-            pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_2D_FIX;
-            break;
-        case AP_GPS::GPS_Status::GPS_OK_FIX_3D:
-        case AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS:
-        case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT:
-        case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED:
-            pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_3D_FIX;
-            break;
-        }
-
-        pkt.position_covariance.len = 9;
-
-        float vacc;
-        if (gps.vertical_accuracy(vacc)) {
-            pkt.position_covariance.data[8] = sq(vacc);
-        }
-
-        float hacc;
-        if (gps.horizontal_accuracy(hacc)) {
-            pkt.position_covariance.data[0] = pkt.position_covariance.data[4] = sq(hacc);
-        }
-        check_float16_range(pkt.position_covariance.data, pkt.position_covariance.len);
-
-        pkt.velocity_covariance.len = 9;
-
-        float sacc;
-        if (gps.speed_accuracy(sacc)) {
-            float vc3 = sq(sacc);
-            pkt.velocity_covariance.data[0] = pkt.velocity_covariance.data[4] = pkt.velocity_covariance.data[8] = vc3;
-        }
-        check_float16_range(pkt.velocity_covariance.data, pkt.velocity_covariance.len);
-
-        uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX_MAX_SIZE] {};
-        uint16_t total_size = uavcan_equipment_gnss_Fix_encode(&pkt, buffer, !periph.canfdout());
-
-        canard_broadcast(UAVCAN_EQUIPMENT_GNSS_FIX_SIGNATURE,
-                        UAVCAN_EQUIPMENT_GNSS_FIX_ID,
-                        CANARD_TRANSFER_PRIORITY_LOW,
-                        &buffer[0],
-                        total_size);
-    }
-
     {
         /*
           send Fix2 packet