diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde index 00b0d36e7f3d4177ee72acd789c3ae27040b5c8b..b1728e46ab84ca5ca7c2f3a286d7cfce1f1d4a7e 100644 --- a/ArduCopter/GCS_Mavlink.pde +++ b/ArduCopter/GCS_Mavlink.pde @@ -276,8 +276,7 @@ static void NOINLINE send_location(mavlink_channel_t chan) static void NOINLINE send_nav_controller_output(mavlink_channel_t chan) { - Vector3f targets; - get_angle_targets_for_reporting(targets); + const Vector3f &targets = attitude_control.angle_ef_targets(); mavlink_msg_nav_controller_output_send( chan, targets.x / 1.0e2f, diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde index 1b146eadba9875db0541314694dfc1a365d614b6..0f0c8a0fb5dea8ed8caacaed019baeeaed9443a2 100644 --- a/ArduCopter/Log.pde +++ b/ArduCopter/Log.pde @@ -469,8 +469,7 @@ struct PACKED log_Attitude { // Write an attitude packet static void Log_Write_Attitude() { - Vector3f targets; - get_angle_targets_for_reporting(targets); + const Vector3f &targets = attitude_control.angle_ef_targets(); struct log_Attitude pkt = { LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG), time_ms : hal.scheduler->millis(), diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde index 9caf7eb316c221a3d03d3b39f5346312338dce36..07761919913b77a83f8aedff41823ed255073da1 100644 --- a/ArduCopter/flight_mode.pde +++ b/ArduCopter/flight_mode.pde @@ -327,8 +327,3 @@ print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode) } } -// get_angle_targets_for_reporting() - returns 3d vector of roll, pitch and yaw target angles for logging and reporting to GCS -static void get_angle_targets_for_reporting(Vector3f& targets) -{ - targets = attitude_control.angle_ef_targets(); -}