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delete unused actuator_controls_3

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent 55be169e18
commit 13f9eabd70
8 changed files with 2 additions and 96 deletions
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src/modules/mavlink/mavlink_receiver.cpp
-34
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@@ -561,40 +561,6 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
send_ack = true;
}
} else if (cmd_mavlink.command == MAV_CMD_DO_SET_ACTUATOR) {
// since we're only paying attention to 3 AUX outputs, the
// index should be 0, otherwise ignore the message
if (((int) vehicle_command.param7) == 0) {
actuator_controls_s actuator_controls{};
// update with existing values to avoid changing unspecified controls
_actuator_controls_3_sub.update(&actuator_controls);
actuator_controls.timestamp = hrt_absolute_time();
bool updated = false;
if (PX4_ISFINITE(vehicle_command.param1)) {
actuator_controls.control[5] = vehicle_command.param1;
updated = true;
}
if (PX4_ISFINITE(vehicle_command.param2)) {
actuator_controls.control[6] = vehicle_command.param2;
updated = true;
}
if (PX4_ISFINITE(vehicle_command.param3)) {
actuator_controls.control[7] = vehicle_command.param3;
updated = true;
}
if (updated) {
_actuator_controls_pubs[3].publish(actuator_controls);
}
}
_cmd_pub.publish(vehicle_command);
} else if (cmd_mavlink.command == MAV_CMD_DO_AUTOTUNE_ENABLE) {
bool has_module = true;
src/modules/mavlink/mavlink_receiver.h
+1 -2
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@@ -290,7 +290,7 @@ private:
uint16_t _mavlink_status_last_packet_rx_drop_count{0};
// ORB publications
uORB::Publication<actuator_controls_s> _actuator_controls_pubs[4] {ORB_ID(actuator_controls_0), ORB_ID(actuator_controls_1), ORB_ID(actuator_controls_2), ORB_ID(actuator_controls_3)};
uORB::Publication<actuator_controls_s> _actuator_controls_pubs[3] {ORB_ID(actuator_controls_0), ORB_ID(actuator_controls_1), ORB_ID(actuator_controls_2)};
uORB::Publication<airspeed_s> _airspeed_pub{ORB_ID(airspeed)};
uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
uORB::Publication<camera_status_s> _camera_status_pub{ORB_ID(camera_status)};
@@ -353,7 +353,6 @@ private:
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)};
uORB::Subscription _autotune_attitude_control_status_sub{ORB_ID(autotune_attitude_control_status)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
src/modules/mavlink/streams/ACTUATOR_CONTROL_TARGET.hpp
-7
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@@ -53,9 +53,6 @@ public:
case 2:
return "ACTUATOR_CONTROL_TARGET2";
case 3:
return "ACTUATOR_CONTROL_TARGET3";
}
return "ACTUATOR_CONTROL_TARGET";
@@ -88,10 +85,6 @@ private:
case 2:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_2)};
break;
case 3:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_3)};
break;
}
}