From af54ac7cdbef3e4601a0969591f4ee9cfcda2d4e Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Fri, 22 Oct 2021 11:02:25 +0200
Subject: [PATCH] ManualControl: remove unused variables and renaming

---
 msg/manual_control_setpoint.msg              | 6 +-----
 src/modules/commander/commander_params.c     | 2 +-
 src/modules/manual_control/ManualControl.cpp | 8 ++++----
 src/modules/manual_control/ManualControl.hpp | 4 +---
 4 files changed, 7 insertions(+), 13 deletions(-)

diff --git a/msg/manual_control_setpoint.msg b/msg/manual_control_setpoint.msg
index 419734c90e..05241083e8 100644
--- a/msg/manual_control_setpoint.msg
+++ b/msg/manual_control_setpoint.msg
@@ -1,10 +1,6 @@
 uint64 timestamp                        # time since system start (microseconds)
 
+bool valid
 px4/manual_control_input chosen_input
 
-bool valid
-
-bool arm_gesture
-bool disarm_gesture
-
 bool user_override
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index f507e5317e..c8c41d1e04 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -34,7 +34,7 @@
 /**
  * @file commander_params.c
  *
- * Parameters defined by the sensors task.
+ * Parameters definition for Commander.
  *
  * @author Lorenz Meier <lorenz@px4.io>
  * @author Thomas Gubler <thomas@px4.io>
diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp
index 2407bae494..85f6c14c79 100644
--- a/src/modules/manual_control/ManualControl.cpp
+++ b/src/modules/manual_control/ManualControl.cpp
@@ -269,20 +269,20 @@ void ManualControl::processStickArming(const manual_control_input_s &input)
 {
 	// Arm gesture
 	const bool right_stick_centered = (fabsf(input.x) < 0.1f) && (fabsf(input.y) < 0.1f);
-	const bool stick_lower_right = (input.z < 0.1f) && (input.r > 0.9f);
+	const bool left_stick_lower_right = (input.z < 0.1f) && (input.r > 0.9f);
 
 	const bool previous_stick_arm_hysteresis = _stick_arm_hysteresis.get_state();
-	_stick_arm_hysteresis.set_state_and_update(stick_lower_right && right_stick_centered, input.timestamp);
+	_stick_arm_hysteresis.set_state_and_update(left_stick_lower_right && right_stick_centered, input.timestamp);
 
 	if (!previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
 		sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_RC_STICK_GESTURE);
 	}
 
 	// Disarm gesture
-	const bool stick_lower_left = (input.z < 0.1f) && (input.r < -0.9f);
+	const bool left_stick_lower_left = (input.z < 0.1f) && (input.r < -0.9f);
 
 	const bool previous_stick_disarm_hysteresis = _stick_disarm_hysteresis.get_state();
-	_stick_disarm_hysteresis.set_state_and_update(stick_lower_left && right_stick_centered, input.timestamp);
+	_stick_disarm_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_centered, input.timestamp);
 
 	if (!previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
 		sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_RC_STICK_GESTURE);
diff --git a/src/modules/manual_control/ManualControl.hpp b/src/modules/manual_control/ManualControl.hpp
index deff47a680..f493498f54 100644
--- a/src/modules/manual_control/ManualControl.hpp
+++ b/src/modules/manual_control/ManualControl.hpp
@@ -166,9 +166,7 @@ private:
 		(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,
 		(ParamInt<px4::params::COM_FLTMODE4>) _param_fltmode_4,
 		(ParamInt<px4::params::COM_FLTMODE5>) _param_fltmode_5,
-		(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6,
-		(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
-		(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id
+		(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6
 	)
 };
 } // namespace manual_control