Rover: remove sending of scaled_outputs in Rover

Author: peterbarker

Rover/GCS_MAVLink_Rover.cpp

@@ -120,36 +120,6 @@ void GCS_MAVLINK_Rover::send_nav_controller_output() const
         control_mode->crosstrack_error());
 }
 
-void GCS_MAVLINK_Rover::send_servo_out()
-{
-    float motor1, motor3;
-    if (rover.g2.motors.have_skid_steering()) {
-        motor1 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleLeft) * 0.001f);
-        motor3 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleRight) * 0.001f);
-    } else {
-        motor1 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_steering) / 4500.0f);
-        motor3 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * 0.01f);
-    }
-    mavlink_msg_rc_channels_scaled_send(
-        chan,
-        millis(),
-        0,  // port 0
-        motor1,
-        0,
-        motor3,
-        0,
-        0,
-        0,
-        0,
-        0,
-#if AP_RSSI_ENABLED
-        receiver_rssi()
-#else
-        255
-#endif
-        );
-}
-
 int16_t GCS_MAVLINK_Rover::vfr_hud_throttle() const
 {
     return rover.g2.motors.get_throttle();
@@ -423,11 +393,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
 {
     switch (id) {
 
-    case MSG_SERVO_OUT:
-        CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
-        send_servo_out();
-        break;
-
     case MSG_WHEEL_DISTANCE:
         CHECK_PAYLOAD_SIZE(WHEEL_DISTANCE);
         rover.send_wheel_encoder_distance(chan);

Rover/GCS_MAVLink_Rover.h

@@ -50,8 +50,6 @@ class GCS_MAVLINK_Rover : public GCS_MAVLINK
     void handle_radio(const mavlink_message_t &msg);
     void handle_landing_target(const mavlink_landing_target_t &msg, uint32_t timestamp_ms) override;
 
-    void send_servo_out();
-
     uint8_t base_mode() const override;
     MAV_STATE vehicle_system_status() const override;