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Copter: remove pointless wrappers around gcs functions

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This commit is contained in:
Peter Barker 2018-11-22 14:37:26 +11:00 committed by Peter Barker
parent 0aa4c4ed9a
commit ee5339f931
3 changed files with 7 additions and 30 deletions
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8
ArduCopter/ArduCopter.cpp
View File

@ -136,10 +136,10 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(gpsglitch_check, 10, 50),
SCHED_TASK(landinggear_update, 10, 75),
SCHED_TASK(lost_vehicle_check, 10, 50),
SCHED_TASK(gcs_update, 400, 180),
SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update, 400, 180),
SCHED_TASK(gcs_send_heartbeat, 1, 110),
SCHED_TASK(gcs_send_deferred, 50, 550),
SCHED_TASK(gcs_data_stream_send, 50, 550),
SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, retry_deferred, 50, 550),
SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, data_stream_send, 50, 550),
#if MOUNT == ENABLED
SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75),
#endif
@ -564,7 +564,7 @@ void Copter::read_AHRS(void)
//-----------------------------------------------
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before ahrs update
gcs_update();
gcs().update();
#endif
// we tell AHRS to skip INS update as we have already done it in fast_loop()

3
ArduCopter/Copter.h
View File

@ -728,13 +728,10 @@ private:
// GCS_Mavlink.cpp
void gcs_send_heartbeat(void);
void gcs_send_deferred(void);
void send_fence_status(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
void send_rpm(mavlink_channel_t chan);
void gcs_data_stream_send(void);
void gcs_update(void);
// heli.cpp
void heli_init();

26
ArduCopter/GCS_Mavlink.cpp
View File

@ -7,10 +7,6 @@ void Copter::gcs_send_heartbeat(void)
gcs().send_message(MSG_HEARTBEAT);
}
void Copter::gcs_send_deferred(void)
{
gcs().retry_deferred();
}
/*
* !!NOTE!!
@ -1437,9 +1433,9 @@ void Copter::mavlink_delay_cb()
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
gcs_send_deferred();
gcs().update();
gcs().data_stream_send();
gcs().retry_deferred();
notify.update();
}
if (tnow - last_5s > 5000) {
@ -1450,22 +1446,6 @@ void Copter::mavlink_delay_cb()
DataFlash.EnableWrites(true);
}
/*
* send data streams in the given rate range on both links
*/
void Copter::gcs_data_stream_send(void)
{
gcs().data_stream_send();
}
/*
* look for incoming commands on the GCS links
*/
void Copter::gcs_update(void)
{
gcs().update();
}
/*
return true if we will accept this packet. Used to implement SYSID_ENFORCE
*/