From 12e5aca0280dd28674151329883f33ab01325ff0 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 15 Feb 2017 22:04:15 -0500
Subject: [PATCH] fw_att_control remove unused accel sub
---
.../fw_att_control/fw_att_control_main.cpp | 28 +------------------
1 file changed, 1 insertion(+), 27 deletions(-)
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index a131107e90..84676a9b57 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -46,7 +46,6 @@
#include <px4_tasks.h>
#include <px4_posix.h>
-#include <drivers/drv_accel.h>
#include <drivers/drv_hrt.h>
#include <ecl/attitude_fw/ecl_pitch_controller.h>
#include <ecl/attitude_fw/ecl_roll_controller.h>
@@ -111,7 +110,6 @@ private:
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle */
- int _accel_sub; /**< accelerometer subscription */
int _att_sp_sub; /**< vehicle attitude setpoint */
int _battery_status_sub; /**< battery status subscription */
int _ctrl_state_sub; /**< control state subscription */
@@ -131,7 +129,6 @@ private:
orb_id_t _actuators_id; // pointer to correct actuator controls0 uORB metadata structure
orb_id_t _attitude_setpoint_id;
- struct accel_report _accel; /**< body frame accelerations */
struct actuator_controls_s _actuators; /**< actuator control inputs */
struct actuator_controls_s _actuators_airframe; /**< actuator control inputs */
struct battery_status_s _battery_status; /**< battery status */
@@ -303,11 +300,6 @@ private:
*/
void vehicle_manual_poll();
- /**
- * Check for accel updates.
- */
- void vehicle_accel_poll();
-
/**
* Check for set triplet updates.
*/
@@ -357,7 +349,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_control_task(-1),
/* subscriptions */
- _accel_sub(-1),
_att_sp_sub(-1),
_battery_status_sub(-1),
_ctrl_state_sub(-1),
@@ -397,7 +388,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_yaw(0.0f)
{
/* safely initialize structs */
- _accel = {};
_actuators = {};
_actuators_airframe = {};
_att_sp = {};
@@ -633,18 +623,6 @@ FixedwingAttitudeControl::vehicle_manual_poll()
}
}
-void
-FixedwingAttitudeControl::vehicle_accel_poll()
-{
- /* check if there is a new position */
- bool accel_updated;
- orb_check(_accel_sub, &accel_updated);
-
- if (accel_updated) {
- orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
- }
-}
-
void
FixedwingAttitudeControl::vehicle_setpoint_poll()
{
@@ -734,7 +712,6 @@ FixedwingAttitudeControl::task_main()
*/
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
- _accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
@@ -747,7 +724,6 @@ FixedwingAttitudeControl::task_main()
/* get an initial update for all sensor and status data */
vehicle_setpoint_poll();
- vehicle_accel_poll();
vehicle_control_mode_poll();
vehicle_manual_poll();
vehicle_status_poll();
@@ -868,8 +844,6 @@ FixedwingAttitudeControl::task_main()
vehicle_setpoint_poll();
- vehicle_accel_poll();
-
vehicle_control_mode_poll();
vehicle_manual_poll();
--
GitLab