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Sub: Remove wrapper around MAVLink send heartbeat

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This commit is contained in:
Michael du Breuil 2019-06-18 01:20:38 -07:00 committed by Francisco Ferreira
parent df37a3d603
commit ba65b163f7
2 changed files with 1 additions and 7 deletions
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7
ArduSub/GCS_Mavlink.cpp
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@ -2,11 +2,6 @@
#include "GCS_Mavlink.h" #include "GCS_Mavlink.h"
void Sub::gcs_send_heartbeat()
{
gcs().send_message(MSG_HEARTBEAT);
}
/* /*
* !!NOTE!! * !!NOTE!!
* *
@ -815,7 +810,7 @@ void Sub::mavlink_delay_cb()
uint32_t tnow = AP_HAL::millis(); uint32_t tnow = AP_HAL::millis();
if (tnow - last_1hz > 1000) { if (tnow - last_1hz > 1000) {
last_1hz = tnow; last_1hz = tnow;
gcs_send_heartbeat(); gcs().send_message(MSG_HEARTBEAT);
gcs().send_message(MSG_SYS_STATUS); gcs().send_message(MSG_SYS_STATUS);
} }
if (tnow - last_50hz > 20) { if (tnow - last_50hz > 20) {

1
ArduSub/Sub.h
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@ -476,7 +476,6 @@ private:
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt); float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
void update_poscon_alt_max(); void update_poscon_alt_max();
void rotate_body_frame_to_NE(float &x, float &y); void rotate_body_frame_to_NE(float &x, float &y);
void gcs_send_heartbeat(void);
void send_heartbeat(mavlink_channel_t chan); void send_heartbeat(mavlink_channel_t chan);
#if RPM_ENABLED == ENABLED #if RPM_ENABLED == ENABLED
void rpm_update(); void rpm_update();