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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;