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actuator_controls_effective topic removed

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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/modules/sdlog2/sdlog2.c
+3 -18
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@@ -68,7 +68,6 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -691,7 +690,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_rates_setpoint_s rates_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
struct actuator_controls_effective_s act_controls_effective;
struct vehicle_local_position_s local_pos;
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
@@ -717,7 +715,6 @@ int sdlog2_thread_main(int argc, char *argv[])
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int act_controls_effective_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
@@ -763,9 +760,9 @@ int sdlog2_thread_main(int argc, char *argv[])
memset(&log_msg.body, 0, sizeof(log_msg.body));
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 20;
/* Sanity check variable and index */
/* number of subscriptions */
const ssize_t fdsc = 19;
/* sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
struct pollfd fds[fdsc];
@@ -824,12 +821,6 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL EFFECTIVE --- */
subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
fds[fdsc_count].fd = subs.act_controls_effective_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION --- */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
fds[fdsc_count].fd = subs.local_pos_sub;
@@ -1114,12 +1105,6 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(ATTC);
}
/* --- ACTUATOR CONTROL EFFECTIVE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective);
// TODO not implemented yet
}
/* --- LOCAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);