From a02cd869c342fb33b0c2163b9deb302108f483f0 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 9 Jan 2018 00:37:21 -0500 Subject: [PATCH] mavlink receiver remove unnecessary rates setpoint class member --- src/modules/mavlink/mavlink_receiver.cpp | 16 ++++++++-------- src/modules/mavlink/mavlink_receiver.h | 1 - 2 files changed, 8 insertions(+), 9 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 6a4b32db96..7fa879f95a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -147,7 +147,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _hil_local_alt0(0.0f), _hil_local_proj_ref{}, _offboard_control_mode{}, - _rates_sp{}, _time_offset_avg_alpha(0.8), _time_offset(0), _orb_class_instance(-1), @@ -1276,23 +1275,24 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) /* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */ ///XXX add support for ignoring individual axes if (!(_offboard_control_mode.ignore_bodyrate)) { - _rates_sp.timestamp = hrt_absolute_time(); + vehicle_rates_setpoint_s rates_sp = {}; + rates_sp.timestamp = hrt_absolute_time(); if (!ignore_bodyrate_msg) { // only copy att rates sp if message contained new data - _rates_sp.roll = set_attitude_target.body_roll_rate; - _rates_sp.pitch = set_attitude_target.body_pitch_rate; - _rates_sp.yaw = set_attitude_target.body_yaw_rate; + rates_sp.roll = set_attitude_target.body_roll_rate; + rates_sp.pitch = set_attitude_target.body_pitch_rate; + rates_sp.yaw = set_attitude_target.body_yaw_rate; } if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid - _rates_sp.thrust = set_attitude_target.thrust; + rates_sp.thrust = set_attitude_target.thrust; } if (_rates_sp_pub == nullptr) { - _rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp); + _rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); } else { - orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &_rates_sp); + orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &rates_sp); } } } diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 57c3d65f16..0da1c3ae05 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -256,7 +256,6 @@ private: float _hil_local_alt0; struct map_projection_reference_s _hil_local_proj_ref; struct offboard_control_mode_s _offboard_control_mode; - struct vehicle_rates_setpoint_s _rates_sp; double _time_offset_avg_alpha; int64_t _time_offset; int _orb_class_instance;