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actuator_controls_effective topic removed

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This commit is contained in:
Anton Babushkin
2013-11-16 23:16:09 +04:00
parent 8f559c73e9
commit 63d81ba415
8 changed files with 35 additions and 209 deletions
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src/drivers/px4fmu/fmu.cpp
-18
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@@ -69,7 +69,6 @@
#include <drivers/drv_rc_input.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
@@ -123,7 +122,6 @@ private:
int _t_actuators;
int _t_actuator_armed;
orb_advert_t _t_outputs;
orb_advert_t _t_actuators_effective;
unsigned _num_outputs;
bool _primary_pwm_device;
@@ -219,7 +217,6 @@ PX4FMU::PX4FMU() :
_t_actuators(-1),
_t_actuator_armed(-1),
_t_outputs(0),
_t_actuators_effective(0),
_num_outputs(0),
_primary_pwm_device(false),
_task_should_exit(false),
@@ -466,13 +463,6 @@ PX4FMU::task_main()
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&outputs);
/* advertise the effective control inputs */
actuator_controls_effective_s controls_effective;
memset(&controls_effective, 0, sizeof(controls_effective));
/* advertise the effective control inputs */
_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
&controls_effective);
pollfd fds[2];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
@@ -588,13 +578,6 @@ PX4FMU::task_main()
pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
/* output actual limited values */
// XXX copy control values as is, need to do backward mixing of actual limited values properly
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
controls_effective.control_effective[i] = _controls.control[i];
}
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
/* output to the servos */
for (unsigned i = 0; i < num_outputs; i++) {
up_pwm_servo_set(i, pwm_limited[i]);
@@ -651,7 +634,6 @@ PX4FMU::task_main()
}
::close(_t_actuators);
::close(_t_actuators_effective);
::close(_t_actuator_armed);
/* make sure servos are off */