Sub: move heartbeat sending to gcs instead of by vehicles

6 years ago · 5519527874
1 changed files with 0 additions and 1 deletions
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@ -39,7 +39,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
				@@ -39,7 +39,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
    SCHED_TASK_CLASS(AP_Notify,           &sub.notify,       update,              50,  90),
    SCHED_TASK(one_hz_loop,            1,    100),
    SCHED_TASK_CLASS(GCS,                 (GCS*)&sub._gcs,   update_receive,     400, 180),
-    SCHED_TASK(gcs_send_heartbeat,     1,    110),
    SCHED_TASK_CLASS(GCS,                 (GCS*)&sub._gcs,   update_send,        400, 550),
 #if MOUNT == ENABLED
    SCHED_TASK_CLASS(AP_Mount,            &sub.camera_mount, update,              50,  75),