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Copter: cleanup unnecessarily complex gcs[] usage

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This commit is contained in:
Andrew Tridgell 2016-05-17 08:27:01 +10:00
parent 7957f25f32
commit e4948544e7
1 changed files with 17 additions and 17 deletions
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34
ArduCopter/GCS_Mavlink.cpp
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@ -534,7 +534,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
switch(id) { switch(id) {
case MSG_HEARTBEAT: case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT); CHECK_PAYLOAD_SIZE(HEARTBEAT);
copter.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = AP_HAL::millis(); last_heartbeat_time = AP_HAL::millis();
copter.send_heartbeat(chan); copter.send_heartbeat(chan);
break; break;
@ -545,13 +545,13 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
CHECK_PAYLOAD_SIZE(SYS_STATUS); CHECK_PAYLOAD_SIZE(SYS_STATUS);
copter.send_extended_status1(chan); copter.send_extended_status1(chan);
CHECK_PAYLOAD_SIZE(POWER_STATUS); CHECK_PAYLOAD_SIZE(POWER_STATUS);
copter.gcs[chan-MAVLINK_COMM_0].send_power_status(); send_power_status();
} }
break; break;
case MSG_EXTENDED_STATUS2: case MSG_EXTENDED_STATUS2:
CHECK_PAYLOAD_SIZE(MEMINFO); CHECK_PAYLOAD_SIZE(MEMINFO);
copter.gcs[chan-MAVLINK_COMM_0].send_meminfo(); send_meminfo();
break; break;
case MSG_ATTITUDE: case MSG_ATTITUDE:
@ -575,11 +575,11 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
break; break;
case MSG_GPS_RAW: case MSG_GPS_RAW:
return copter.gcs[chan-MAVLINK_COMM_0].send_gps_raw(copter.gps); return send_gps_raw(copter.gps);
case MSG_SYSTEM_TIME: case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME); CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
copter.gcs[chan-MAVLINK_COMM_0].send_system_time(copter.gps); send_system_time(copter.gps);
break; break;
case MSG_SERVO_OUT: case MSG_SERVO_OUT:
@ -589,7 +589,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_RADIO_IN: case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW); CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
copter.gcs[chan-MAVLINK_COMM_0].send_radio_in(copter.receiver_rssi); send_radio_in(copter.receiver_rssi);
break; break;
case MSG_RADIO_OUT: case MSG_RADIO_OUT:
@ -604,17 +604,17 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_RAW_IMU1: case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU); CHECK_PAYLOAD_SIZE(RAW_IMU);
copter.gcs[chan-MAVLINK_COMM_0].send_raw_imu(copter.ins, copter.compass); send_raw_imu(copter.ins, copter.compass);
break; break;
case MSG_RAW_IMU2: case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE); CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
copter.gcs[chan-MAVLINK_COMM_0].send_scaled_pressure(copter.barometer); send_scaled_pressure(copter.barometer);
break; break;
case MSG_RAW_IMU3: case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS); CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
copter.gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(copter.ins, copter.compass, copter.barometer); send_sensor_offsets(copter.ins, copter.compass, copter.barometer);
break; break;
case MSG_CURRENT_WAYPOINT: case MSG_CURRENT_WAYPOINT:
@ -624,12 +624,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_NEXT_PARAM: case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE); CHECK_PAYLOAD_SIZE(PARAM_VALUE);
copter.gcs[chan-MAVLINK_COMM_0].queued_param_send(); queued_param_send();
break; break;
case MSG_NEXT_WAYPOINT: case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST); CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
copter.gcs[chan-MAVLINK_COMM_0].queued_waypoint_send(); queued_waypoint_send();
break; break;
case MSG_RANGEFINDER: case MSG_RANGEFINDER:
@ -671,7 +671,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_AHRS: case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS); CHECK_PAYLOAD_SIZE(AHRS);
copter.gcs[chan-MAVLINK_COMM_0].send_ahrs(copter.ahrs); send_ahrs(copter.ahrs);
break; break;
case MSG_SIMSTATE: case MSG_SIMSTATE:
@ -680,7 +680,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
copter.send_simstate(chan); copter.send_simstate(chan);
#endif #endif
CHECK_PAYLOAD_SIZE(AHRS2); CHECK_PAYLOAD_SIZE(AHRS2);
copter.gcs[chan-MAVLINK_COMM_0].send_ahrs2(copter.ahrs); send_ahrs2(copter.ahrs);
break; break;
case MSG_HWSTATUS: case MSG_HWSTATUS:
@ -697,13 +697,13 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_BATTERY2: case MSG_BATTERY2:
CHECK_PAYLOAD_SIZE(BATTERY2); CHECK_PAYLOAD_SIZE(BATTERY2);
copter.gcs[chan-MAVLINK_COMM_0].send_battery2(copter.battery); send_battery2(copter.battery);
break; break;
case MSG_OPTICAL_FLOW: case MSG_OPTICAL_FLOW:
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW); CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
copter.gcs[chan-MAVLINK_COMM_0].send_opticalflow(copter.ahrs, copter.optflow); send_opticalflow(copter.ahrs, copter.optflow);
#endif #endif
break; break;
@ -1542,7 +1542,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: { case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION); send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
break; break;
@ -2017,7 +2017,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION); send_autopilot_version(FIRMWARE_VERSION);
break; break;
case MAVLINK_MSG_ID_LED_CONTROL: case MAVLINK_MSG_ID_LED_CONTROL: