From 1b3803fbe5d0608c673b674fac6e077c5fdbf0c1 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 30 Apr 2018 18:13:06 -0400 Subject: [PATCH] px4io driver remove unnecessary class fields --- src/drivers/px4io/px4io.cpp | 24 +++++++++--------------- 1 file changed, 9 insertions(+), 15 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index d52df0ef44..41cc2f465e 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -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); } }