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GCS_MAVLink: move try_send_message of nav_controller_output up

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Peter Barker 2018-05-05 10:07:59 +10:00 committed by Andrew Tridgell
parent 6dbe662941
commit de615ee11d
4 changed files with 9 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -193,6 +193,7 @@ public:
// found. Rover overrides this!
virtual void send_rangefinder() const;
void send_proximity() const;
virtual void send_nav_controller_output() const = 0;
void send_ahrs2();
void send_ahrs3();
void send_system_time();

5
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4091,6 +4091,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_ahrs3();
break;
case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
send_nav_controller_output();
break;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs();

2
libraries/GCS_MAVLink/GCS_Dummy.h
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@ -36,6 +36,8 @@ protected:
bool set_home_to_current_location(bool lock) override { return false; }
bool set_home(const Location& loc, bool lock) override { return false; }
void send_nav_controller_output() const override {};
};
/*

1
libraries/GCS_MAVLink/examples/routing/routing.cpp
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@ -39,6 +39,7 @@ protected:
uint32_t custom_mode() const override { return 3; } // magic number
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health) override { present = 0; enabled = 0; health = 0; }
void send_nav_controller_output() const override {};
bool set_home_to_current_location(bool lock) override { return false; }
bool set_home(const Location& loc, bool lock) override { return false; }