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Copter: removed some unnecessary fields in GCS.h

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save some memory
This commit is contained in:
Andrew Tridgell 2013-12-15 13:03:57 +11:00
parent 0530b4a1db
commit e5f098c37c
2 changed files with 2 additions and 31 deletions
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2
ArduCopter/GCS.h
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@ -184,10 +184,8 @@ private:
uint16_t waypoint_request_last; // last request index
uint16_t waypoint_dest_sysid; // where to send requests
uint16_t waypoint_dest_compid; // "
bool waypoint_sending; // currently in send process
bool waypoint_receiving; // currently receiving
uint16_t waypoint_count;
uint32_t waypoint_timelast_send; // milliseconds
uint32_t waypoint_timelast_receive; // milliseconds
uint32_t waypoint_timelast_request; // milliseconds
uint16_t waypoint_send_timeout; // milliseconds

31
ArduCopter/GCS_Mavlink.pde
View File

@ -937,7 +937,7 @@ GCS_MAVLINK::update(void)
// Update packet drops counter
packet_drops += status.packet_rx_drop_count;
if (!waypoint_receiving && !waypoint_sending) {
if (!waypoint_receiving) {
return;
}
@ -950,11 +950,6 @@ GCS_MAVLINK::update(void)
send_message(MSG_NEXT_WAYPOINT);
}
// stop waypoint sending if timeout
if (waypoint_sending && (tnow - waypoint_timelast_send) > waypoint_send_timeout) {
waypoint_sending = false;
}
// stop waypoint receiving if timeout
if (waypoint_receiving && (tnow - waypoint_timelast_receive) > waypoint_receive_timeout) {
waypoint_receiving = false;
@ -997,7 +992,7 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
void
GCS_MAVLINK::data_stream_send(void)
{
if (waypoint_receiving || waypoint_sending) {
if (waypoint_receiving) {
// don't interfere with mission transfer
return;
}
@ -1312,8 +1307,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
msg->compid,
g.command_total); // includes home
waypoint_timelast_send = millis();
waypoint_sending = true;
waypoint_receiving = false;
waypoint_dest_sysid = msg->sysid;
waypoint_dest_compid = msg->compid;
@ -1323,10 +1316,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST: // 40
{
// Check if sending waypiont
//if (!waypoint_sending) break;
// 5/10/11 - We are trying out relaxing the requirement that we be in waypoint sending mode to respond to a waypoint request. DEW
// decode
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
@ -1444,25 +1433,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
x,
y,
z);
// update last waypoint comm stamp
waypoint_timelast_send = millis();
break;
}
case MAVLINK_MSG_ID_MISSION_ACK:
{
// decode
mavlink_mission_ack_t packet;
mavlink_msg_mission_ack_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// turn off waypoint send
waypoint_sending = false;
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// decode
@ -1572,7 +1546,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_timelast_receive = millis();
waypoint_receiving = true;
waypoint_sending = false;
waypoint_request_i = 0;
// note that ArduCopter sets waypoint_request_last to
// command_total-1, whereas plane and rover use