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mc att: remove subscriber handles

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This commit is contained in:
Thomas Gubler 2014-12-12 07:34:23 +01:00
parent ab35b6470c
commit 59d26f5c30
2 changed files with 0 additions and 23 deletions
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14
src/modules/mc_att_control/mc_att_control.cpp
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@ -65,13 +65,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_task_should_exit(false),
_control_task(-1),
_actuators_0_circuit_breaker_enabled(false),
/* subscriptions */
_v_att_sub(-1),
_v_att_sp_sub(-1),
_v_control_mode_sub(-1),
_params_sub(-1),
_manual_control_sp_sub(-1),
_armed_sub(-1),
/* publications */
_att_sp_pub(nullptr),
@ -110,19 +103,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
/*
* do subscriptions
*/
// _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
PX4_SUBSCRIBE(_n, vehicle_attitude, MulticopterAttitudeControl::handle_vehicle_attitude, this, 0);
// _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
PX4_SUBSCRIBE(_n, vehicle_attitude_setpoint, 0);
// _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
PX4_SUBSCRIBE(_n, vehicle_rates_setpoint, 0);
// _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
PX4_SUBSCRIBE(_n, vehicle_control_mode, 0);
// _params_sub = orb_subscribe(ORB_ID(parameter_update));
PX4_SUBSCRIBE(_n, parameter_update, 0);
// _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
PX4_SUBSCRIBE(_n, manual_control_setpoint, 0);
// _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
PX4_SUBSCRIBE(_n, actuator_armed, 0);
}

9
src/modules/mc_att_control/mc_att_control.h
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@ -94,15 +94,6 @@ private:
int _control_task; /**< task handle for sensor task */
bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
int _v_att_sub; /**< vehicle attitude subscription */
int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
int _v_control_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< parameter updates subscription */
int _manual_control_sp_sub; /**< manual control setpoint subscription */
int _armed_sub; /**< arming status subscription */
px4::Publisher * _att_sp_pub; /**< attitude setpoint publication */
px4::Publisher * _v_rates_sp_pub; /**< rate setpoint publication */
px4::Publisher * _actuators_0_pub; /**< attitude actuator controls publication */