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mavlink receiver remove unnecessary rates setpoint class member

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This commit is contained in:
Daniel Agar
2018-01-09 01:01:53 -05:00
parent fe22b856d6
commit a02cd869c3
2 changed files with 8 additions and 9 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+8 -8
View File
@@ -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);
}
}
}
src/modules/mavlink/mavlink_receiver.h
-1
View File
@@ -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;