AP_Follow: remove send-text to GCS

libraries/AP_Follow/AP_Follow.cpp

@@ -23,7 +23,6 @@ extern const AP_HAL::HAL& hal;
 
 #define AP_FOLLOW_TIMEOUT_MS    3000    // position estimate timeout after 1 second
 #define AP_FOLLOW_SYSID_TIMEOUT_MS 10000 // forget sysid we are following if we haave not heard from them in 10 seconds
-#define AP_GCS_INTERVAL_MS 1000 // interval between updating GCS on position of vehicle
 
 #define AP_FOLLOW_OFFSET_TYPE_NED       0   // offsets are in north-east-down frame
 #define AP_FOLLOW_OFFSET_TYPE_RELATIVE  1   // offsets are relative to lead vehicle's heading
@@ -293,14 +292,6 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg)
             _sysid.set(msg.sysid);
             _automatic_sysid = true;
         }
-        if ((now - _last_location_sent_to_gcs) > AP_GCS_INTERVAL_MS) {
-            _last_location_sent_to_gcs = now;
-            gcs().send_text(MAV_SEVERITY_INFO, "Foll: %u %ld %ld %4.2f\n",
-                            (unsigned)_sysid.get(),
-                            (long)_target_location.lat,
-                            (long)_target_location.lng,
-                            (double)(_target_location.alt * 0.01f));    // cm to m
-        }
 
         // log lead's estimated vs reported position
         DataFlash_Class::instance()->Log_Write("FOLL",

libraries/AP_Follow/AP_Follow.h

@@ -108,7 +108,5 @@ private:
     Vector3f _target_accel_ned;     // last known acceleration of target in NED frame in m/s/s
     uint32_t _last_heading_update_ms;   // system time of last heading update
     float _target_heading;          // heading in degrees
-    uint32_t _last_location_sent_to_gcs; // last time GCS was told position
-
     bool _automatic_sysid;          // did we lock onto a sysid automatically?
 };