fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-06 13:08:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4io driver remove unnecessary class fields

Browse Source
This commit is contained in:
Daniel Agar
2018-05-01 17:55:47 +02:00
committed by Lorenz Meier
parent 8404889098
commit 1b3803fbe5
1 changed files with 9 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io.cpp
+9 -15
View File
@@ -269,9 +269,6 @@ private:
orb_advert_t _to_safety; ///< status of safety
orb_advert_t _to_mixer_status; ///< mixer status flags
actuator_outputs_s _outputs; ///< mixed outputs
servorail_status_s _servorail_status; ///< servorail status
bool _primary_pwm_device; ///< true if we are the default PWM output
bool _lockdown_override; ///< allow to override the safety lockdown
bool _armed; ///< wether the system is armed
@@ -490,8 +487,6 @@ PX4IO::PX4IO(device::Device *interface) :
_to_servorail(nullptr),
_to_safety(nullptr),
_to_mixer_status(nullptr),
_outputs{},
_servorail_status{},
_primary_pwm_device(false),
_lockdown_override(false),
_armed(false),
@@ -508,9 +503,6 @@ PX4IO::PX4IO(device::Device *interface) :
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
_debug_enabled = false;
_servorail_status.rssi_v = 0;
}
PX4IO::~PX4IO()
@@ -1686,17 +1678,19 @@ PX4IO::io_handle_alarms(uint16_t alarms)
void
PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
{
_servorail_status.timestamp = hrt_absolute_time();
servorail_status_s servorail_status = {};
servorail_status.timestamp = hrt_absolute_time();
/* voltage is scaled to mV */
_servorail_status.voltage_v = vservo * 0.001f;
_servorail_status.rssi_v = vrssi * 0.001f;
servorail_status.voltage_v = vservo * 0.001f;
servorail_status.rssi_v = vrssi * 0.001f;
if (_analog_rc_rssi_volt < 0.0f) {
_analog_rc_rssi_volt = _servorail_status.rssi_v;
_analog_rc_rssi_volt = servorail_status.rssi_v;
}
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.99f + _servorail_status.rssi_v * 0.01f;
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.99f + servorail_status.rssi_v * 0.01f;
if (_analog_rc_rssi_volt > 2.5f) {
_analog_rc_rssi_stable = true;
@@ -1704,10 +1698,10 @@ PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
/* lazily publish the servorail voltages */
if (_to_servorail != nullptr) {
orb_publish(ORB_ID(servorail_status), _to_servorail, &_servorail_status);
orb_publish(ORB_ID(servorail_status), _to_servorail, &servorail_status);
} else {
_to_servorail = orb_advertise(ORB_ID(servorail_status), &_servorail_status);
_to_servorail = orb_advertise(ORB_ID(servorail_status), &servorail_status);
}
}