AP_Frsky_Telem: removed sending redundant VSpd, Alt, and VFAS sensor values, which can now be handled by OpenTX

libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp

@@ -139,21 +139,6 @@ void AP_Frsky_Telem::send_SPort_Passthrough(void)
                     _passthrough.gps_latlng_timer = AP_HAL::millis();
                 }
                 return;
-            } else if ((now - _passthrough.vario_timer) > 500) {
-                Vector3f velNED;
-                if (_ahrs.get_velocity_NED(velNED)) {
-                    send_uint32(VARIO_FIRST_ID, (int32_t)roundf(-velNED.z*100)); // vertical velocity in cm/s, +ve up
-                }
-                _passthrough.vario_timer = AP_HAL::millis();
-                return;
-            } else if ((now - _passthrough.alt_timer) > 1000) {
-                send_uint32(ALT_FIRST_ID, (int32_t)_relative_home_altitude); // altitude in cm above home position
-                _passthrough.alt_timer = AP_HAL::millis();
-                return;
-            } else if ((now - _passthrough.vfas_timer) > 1000) {
-                send_uint32(VFAS_FIRST_ID, (uint32_t)roundf(_battery.voltage() * 100.0f)); // battery pack voltage in volts
-                _passthrough.vfas_timer = AP_HAL::millis();
-                return;
             }
         }
         // if nothing else needed to be sent, send attitude (roll, pitch) and range data
@@ -703,6 +688,7 @@ uint32_t AP_Frsky_Telem::calc_home(void)
 {
     uint32_t home = 0;
     Location loc;
+    float _relative_home_altitude = 0;
     if (_ahrs.get_position(loc)) {            
         // check home_loc is valid
         const Location &home_loc = _ahrs.get_home();
@@ -718,9 +704,8 @@ uint32_t AP_Frsky_Telem::calc_home(void)
             // loc.alt has home altitude added, remove it
             _relative_home_altitude -= _ahrs.get_home().alt;
         }
-    } else {
-        _relative_home_altitude = 0;
     }
+    // altitude above home in decimeters
     home |= prep_number(roundf(_relative_home_altitude * 0.1f), 3, 2)<<HOME_ALT_OFFSET;
     return home;
 }
@@ -839,15 +824,13 @@ uint16_t AP_Frsky_Telem::prep_number(int32_t number, uint8_t digits, uint8_t pow
 void AP_Frsky_Telem::calc_nav_alt(void)
 {
     Location loc;
-    float current_height; // in centimeters above home
+    float current_height = 0; // in centimeters above home
     if (_ahrs.get_position(loc)) {
         current_height = loc.alt*0.01f;
         if (!loc.flags.relative_alt) {
             // loc.alt has home altitude added, remove it
             current_height -= _ahrs.get_home().alt*0.01f;
         }
-    } else {
-        current_height = 0;
     }
     
     _gps.alt_nav_meters = (int16_t)current_height;

libraries/AP_Frsky_Telem/AP_Frsky_Telem.h

@@ -61,9 +61,6 @@ for FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
 #define SENSOR_ID_28                0x1B // Sensor ID 28
 
 // FrSky data IDs
-#define ALT_FIRST_ID                0x0100
-#define VARIO_FIRST_ID              0x0110
-#define VFAS_FIRST_ID               0x0210
 #define GPS_LONG_LATI_FIRST_ID      0x0800
 #define DIY_FIRST_ID                0x5000
 
@@ -133,9 +130,8 @@ public:
     // MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
     // indicates that the sensor or subsystem is present but not
     // functioning correctly
-
     void update_sensor_status_flags(uint32_t error_mask) { _ap.sensor_status_flags = error_mask; }
-        
+
     static ObjectArray<mavlink_statustext_t> _statustext_queue;
     
 private:
@@ -161,8 +157,7 @@ private:
         uint32_t *valuep;
         uint32_t sensor_status_flags;
     } _ap;
-    
-    float _relative_home_altitude; // altitude in centimeters above home
+
     uint32_t check_sensor_status_timer;
     uint32_t check_ekf_status_timer;
     uint8_t _paramID;
@@ -194,9 +189,6 @@ private:
         uint32_t home_timer;
         uint32_t velandyaw_timer;
         uint32_t gps_latlng_timer;
-        uint32_t vario_timer;
-        uint32_t alt_timer;
-        uint32_t vfas_timer;
     } _passthrough;
     
     struct