From 4f0e090e88031f82957e87bfd7ef94269442e54a Mon Sep 17 00:00:00 2001
From: MaEtUgR <maetugr@gmail.com>
Date: Thu, 28 Jun 2018 19:04:03 +0200
Subject: [PATCH] drv_rc_input: replace useless rc_input_values define
---
src/drivers/drv_rc_input.h | 4 +---
src/drivers/px4io/px4io.cpp | 6 +++---
src/modules/mavlink/mavlink_messages.cpp | 4 ++--
src/modules/mavlink/mavlink_receiver.cpp | 4 ++--
src/modules/sensors/parameters.h | 2 +-
src/modules/sensors/rc_update.cpp | 3 ++-
src/modules/simulator/simulator.h | 2 +-
src/modules/simulator/simulator_mavlink.cpp | 2 +-
src/modules/syslink/syslink_main.cpp | 2 +-
src/systemcmds/tests/test_ppm_loopback.c | 4 ++--
src/systemcmds/tests/test_rc.c | 5 ++---
11 files changed, 18 insertions(+), 20 deletions(-)
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 674dd78b31..bcf59df685 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -42,6 +42,7 @@
#include <stdint.h>
#include <sys/ioctl.h>
+#include <uORB/topics/input_rc.h>
#include "drv_orb_dev.h"
@@ -77,9 +78,6 @@
*/
#define RC_INPUT_MAX_DEADZONE_US 500
-#include <uORB/topics/input_rc.h>
-#define rc_input_values input_rc_s
-
/**
* Input signal type, value is a control position from zero to 100
* percent.
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 8adfab22f4..ed55d47393 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -335,7 +335,7 @@ private:
* @param input_rc Input structure to populate.
* @return OK if data was returned.
*/
- int io_get_raw_rc_input(rc_input_values &input_rc);
+ int io_get_raw_rc_input(input_rc_s &input_rc);
/**
* Fetch and publish raw RC input data.
@@ -1742,7 +1742,7 @@ PX4IO::io_get_status()
}
int
-PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
+PX4IO::io_get_raw_rc_input(input_rc_s &input_rc)
{
uint32_t channel_count;
int ret;
@@ -1849,7 +1849,7 @@ PX4IO::io_publish_raw_rc()
{
/* fetch values from IO */
- rc_input_values rc_val;
+ input_rc_s rc_val;
/* set the RC status flag ORDER MATTERS! */
rc_val.rc_lost = !(_status & PX4IO_P_STATUS_FLAGS_RC_OK);
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index ec6e121102..641c5e9b16 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -47,7 +47,6 @@
#include <commander/px4_custom_mode.h>
#include <drivers/drv_pwm_output.h>
-#include <drivers/drv_rc_input.h>
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/matrix/matrix/math.hpp>
@@ -70,6 +69,7 @@
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/home_position.h>
+#include <uORB/topics/input_rc.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
@@ -3198,7 +3198,7 @@ protected:
bool send(const hrt_abstime t)
{
- rc_input_values rc;
+ input_rc_s rc;
if (_rc_sub->update(&_rc_time, &rc)) {
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 9a7e2f3cb2..3bd03170de 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1821,7 +1821,7 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
return;
}
- struct rc_input_values rc = {};
+ struct input_rc_s rc = {};
rc.timestamp = hrt_absolute_time();
@@ -1881,7 +1881,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
if (_mavlink->get_manual_input_mode_generation()) {
- struct rc_input_values rc = {};
+ struct input_rc_s rc = {};
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
diff --git a/src/modules/sensors/parameters.h b/src/modules/sensors/parameters.h
index afdfc31e3c..8bb5712c5b 100644
--- a/src/modules/sensors/parameters.h
+++ b/src/modules/sensors/parameters.h
@@ -47,7 +47,7 @@
#include <mathlib/mathlib.h>
#include <uORB/topics/rc_parameter_map.h>
-
+#include <uORB/topics/input_rc.h>
namespace sensors
{
diff --git a/src/modules/sensors/rc_update.cpp b/src/modules/sensors/rc_update.cpp
index 70ce2145b9..f915b9760a 100644
--- a/src/modules/sensors/rc_update.cpp
+++ b/src/modules/sensors/rc_update.cpp
@@ -46,6 +46,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/input_rc.h>
using namespace sensors;
@@ -256,7 +257,7 @@ RCUpdate::rc_poll(const ParameterHandles ¶meter_handles)
if (rc_updated) {
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
- struct rc_input_values rc_input;
+ struct input_rc_s rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index cdd7886036..e6a4b2e958 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -369,7 +369,7 @@ private:
uint64_t _hil_ref_timestamp;
// uORB data containers
- struct rc_input_values _rc_input;
+ struct input_rc_s _rc_input;
struct actuator_outputs_s _actuators[ORB_MULTI_MAX_INSTANCES];
struct vehicle_attitude_s _attitude;
struct manual_control_setpoint_s _manual;
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index b6e1aa8642..d8efe0ea25 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -185,7 +185,7 @@ void Simulator::send_controls()
}
}
-static void fill_rc_input_msg(struct rc_input_values *rc, mavlink_rc_channels_t *rc_channels)
+static void fill_rc_input_msg(input_rc_s *rc, mavlink_rc_channels_t *rc_channels)
{
rc->timestamp = hrt_absolute_time();
rc->timestamp_last_signal = rc->timestamp;
diff --git a/src/modules/syslink/syslink_main.cpp b/src/modules/syslink/syslink_main.cpp
index 69b6a41fa5..26d0c52223 100644
--- a/src/modules/syslink/syslink_main.cpp
+++ b/src/modules/syslink/syslink_main.cpp
@@ -549,7 +549,7 @@ Syslink::handle_raw(syslink_message_t *sys)
crtp_commander *cmd = (crtp_commander *) &c->data[0];
- struct rc_input_values rc = {};
+ input_rc_s rc = {};
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c
index 445da47888..23023b059f 100644
--- a/src/systemcmds/tests/test_ppm_loopback.c
+++ b/src/systemcmds/tests/test_ppm_loopback.c
@@ -134,7 +134,7 @@ int test_ppm_loopback(int argc, char *argv[])
/* give driver 10 ms to propagate */
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
- struct rc_input_values rc_input;
+ struct input_rc_s rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
usleep(100000);
@@ -151,7 +151,7 @@ int test_ppm_loopback(int argc, char *argv[])
- // struct rc_input_values rc;
+ // struct input_rc_s rc;
// result = read(ppm_fd, &rc, sizeof(rc));
// if (result != sizeof(rc)) {
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
index 590f0b48f5..723af3d88c 100644
--- a/src/systemcmds/tests/test_rc.c
+++ b/src/systemcmds/tests/test_rc.c
@@ -61,12 +61,11 @@
int test_rc(int argc, char *argv[])
{
-
int _rc_sub = orb_subscribe(ORB_ID(input_rc));
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
- struct rc_input_values rc_input;
- struct rc_input_values rc_last;
+ struct input_rc_s rc_input;
+ struct input_rc_s rc_last;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
usleep(100000);
--
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