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Stop sending sensor offsets mavlink message #18368

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merged 7 commits into from
Aug 18, 2021
Merged

Stop sending sensor offsets mavlink message #18368

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1c4dc54
GCS_MAVLink: stop sending SENSOR_OFFSETS
peterbarker Aug 17, 2021
eed16fd
AntennaTracker: stop sending SENSOR_OFFSETS
peterbarker Aug 17, 2021
ff7a131
ArduCopter: stop sending SENSOR_OFFSETS
peterbarker Aug 17, 2021
d22083d
ArduPlane: stop sending SENSOR_OFFSETS
peterbarker Aug 17, 2021
652a128
ArduSub: stop sending SENSOR_OFFSETS
peterbarker Aug 17, 2021
fe30a22
Blimp: stop sending SENSOR_OFFSETS
peterbarker Aug 17, 2021
7cf0ca8
Rover: stop sending SENSOR_OFFSETS
peterbarker Aug 17, 2021
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1 change: 0 additions & 1 deletion AntennaTracker/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -264,7 +264,6 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
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1 change: 0 additions & 1 deletion ArduCopter/GCS_Mavlink.cpp
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Expand Up @@ -437,7 +437,6 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
Expand Down
1 change: 0 additions & 1 deletion ArduPlane/GCS_Mavlink.cpp
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Expand Up @@ -486,7 +486,6 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
Expand Down
3 changes: 1 addition & 2 deletions ArduSub/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -322,7 +322,6 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
Expand Down Expand Up @@ -832,4 +831,4 @@ uint8_t GCS_MAVLINK_Sub::high_latency_tgt_airspeed() const
}
return 0;
}
#endif // HAL_HIGH_LATENCY2_ENABLED
#endif // HAL_HIGH_LATENCY2_ENABLED
3 changes: 1 addition & 2 deletions Blimp/GCS_Mavlink.cpp
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Expand Up @@ -299,7 +299,6 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
Expand Down Expand Up @@ -664,4 +663,4 @@ uint8_t GCS_MAVLINK_Blimp::high_latency_wind_direction() const
// need to convert -180->180 to 0->360/2
return wrap_360(degrees(atan2f(-wind.y, -wind.x))) / 2;
}
#endif // HAL_HIGH_LATENCY2_ENABLED
#endif // HAL_HIGH_LATENCY2_ENABLED
3 changes: 1 addition & 2 deletions Rover/GCS_Mavlink.cpp
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Expand Up @@ -466,7 +466,6 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
Expand Down Expand Up @@ -1111,4 +1110,4 @@ uint8_t GCS_MAVLINK_Rover::high_latency_wind_direction() const
}
return 0;
}
#endif // HAL_HIGH_LATENCY2_ENABLED
#endif // HAL_HIGH_LATENCY2_ENABLED
7 changes: 0 additions & 7 deletions libraries/GCS_MAVLink/GCS.h
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Expand Up @@ -244,7 +244,6 @@ class GCS_MAVLINK
void send_scaled_pressure();
void send_scaled_pressure2();
virtual void send_scaled_pressure3(); // allow sub to override this
void send_sensor_offsets();
void send_simstate() const;
void send_sim_state() const;
void send_ahrs();
Expand Down Expand Up @@ -867,12 +866,6 @@ class GCS_MAVLINK

uint8_t last_battery_status_idx;

// send_sensor_offsets decimates its send rate using this counter:
// FIXME: decimate this instead when initialising the message
// intervals from the stream rates. Consider the implications of
// doing so vis-a-vis the fact it will consume a bucket.
uint8_t send_sensor_offsets_counter;

// if we've ever sent a DISTANCE_SENSOR message out of an
// orientation we continue to send it out, even if it is not
// longer valid.
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39 changes: 0 additions & 39 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -807,7 +807,6 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_SCALED_PRESSURE, MSG_SCALED_PRESSURE},
{ MAVLINK_MSG_ID_SCALED_PRESSURE2, MSG_SCALED_PRESSURE2},
{ MAVLINK_MSG_ID_SCALED_PRESSURE3, MSG_SCALED_PRESSURE3},
{ MAVLINK_MSG_ID_SENSOR_OFFSETS, MSG_SENSOR_OFFSETS},
{ MAVLINK_MSG_ID_GPS_RAW_INT, MSG_GPS_RAW},
{ MAVLINK_MSG_ID_GPS_RTK, MSG_GPS_RTK},
{ MAVLINK_MSG_ID_GPS2_RAW, MSG_GPS2_RAW},
Expand Down Expand Up @@ -1822,39 +1821,6 @@ void GCS_MAVLINK::send_scaled_pressure3()
send_scaled_pressure_instance(2, mavlink_msg_scaled_pressure3_send);
}

void GCS_MAVLINK::send_sensor_offsets()
{
const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass();

// run this message at a much lower rate - otherwise it
// pointlessly wastes quite a lot of bandwidth
if (send_sensor_offsets_counter++ < 10) {
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Ha! This defeats a lot of the scheduling/buffering code as well because it's harder to land on the right order with stuff like this confusing the buffer backoffs :P

return;
}
send_sensor_offsets_counter = 0;

const Vector3f &mag_offsets = compass.get_offsets(0);
const Vector3f &accel_offsets = ins.get_accel_offsets(0);
const Vector3f &gyro_offsets = ins.get_gyro_offsets(0);

const AP_Baro &barometer = AP::baro();

mavlink_msg_sensor_offsets_send(chan,
mag_offsets.x,
mag_offsets.y,
mag_offsets.z,
compass.get_declination(),
barometer.get_pressure(),
barometer.get_temperature()*100,
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This isn't actually available via the parameters, but it is in the scaled pressure, which is better anyways.

gyro_offsets.x,
gyro_offsets.y,
gyro_offsets.z,
accel_offsets.x,
accel_offsets.y,
accel_offsets.z);
}

void GCS_MAVLINK::send_ahrs()
{
const AP_AHRS &ahrs = AP::ahrs();
Expand Down Expand Up @@ -5018,11 +4984,6 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_scaled_pressure3();
break;

case MSG_SENSOR_OFFSETS:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_sensor_offsets();
break;

case MSG_SERVO_OUTPUT_RAW:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
send_servo_output_raw();
Expand Down
1 change: 0 additions & 1 deletion libraries/GCS_MAVLink/ap_message.h
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Expand Up @@ -27,7 +27,6 @@ enum ap_message : uint8_t {
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS,
MSG_GPS_RAW,
MSG_GPS_RTK,
MSG_GPS2_RAW,
Expand Down