fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-06 14:58:54 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander delete non-existant methods and cleanup

Browse Source
This commit is contained in:
Daniel Agar
2018-08-03 17:38:16 -04:00
parent 05ca1defee
commit 92bfdea1e3
2 changed files with 9 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.hpp
+8 -13
View File
@@ -120,10 +120,10 @@ private:
hrt_abstime _lvel_probation_time_us = POSVEL_PROBATION_MIN;
/* class variables used to check for navigation failure after takeoff */
hrt_abstime _time_at_takeoff{0}; /**< last time we were on the ground */
hrt_abstime _time_at_takeoff{0}; /**< last time we were on the ground */
hrt_abstime _time_last_innov_pass{0}; /**< last time velocity innovations passed */
bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */
bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd,
actuator_armed_s *armed, home_position_s *home, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);
@@ -139,11 +139,6 @@ private:
// Set the system main state based on the current RC inputs
transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
// Set the main system state based on RC and override device inputs
transition_result_t set_main_state(vehicle_status_s *status, bool *changed);
transition_result_t set_main_state_override_on(vehicle_status_s *status, bool *changed);
transition_result_t set_main_state_rc(vehicle_status_s *status, bool *changed);
void check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out, bool *changed);
bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
@@ -179,11 +174,11 @@ private:
void estimator_check(bool *status_changed);
// Subscriptions
Subscription<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
Subscription<mission_result_s> _mission_result_sub;
Subscription<vehicle_global_position_s> _global_position_sub;
Subscription<vehicle_local_position_s> _local_position_sub;
Subscription<iridiumsbd_status_s> _iridiumsbd_status_sub;
Subscription<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
Subscription<iridiumsbd_status_s> _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
Subscription<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
Subscription<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
Subscription<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
};
#endif /* COMMANDER_HPP_ */
src/modules/commander/commander.cpp
+1 -6
View File
@@ -543,11 +543,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
}
Commander::Commander() :
ModuleParams(nullptr),
_mission_result_sub(ORB_ID(mission_result)),
_global_position_sub(ORB_ID(vehicle_global_position)),
_local_position_sub(ORB_ID(vehicle_local_position)),
_iridiumsbd_status_sub(ORB_ID(iridiumsbd_status))
ModuleParams(nullptr)
{
}
@@ -1700,7 +1696,6 @@ Commander::run()
estimator_check(&status_changed);
/* Update land detector */
orb_check(land_detector_sub, &updated);