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delete control_state and cleanup vehicle_attitude (#7882)

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This commit is contained in:
Daniel Agar
2017-09-21 16:24:53 -04:00
committed by GitHub
parent 5bea264a5f
commit b4755297ec
42 changed files with 776 additions and 1061 deletions
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src/modules/sdlog2/sdlog2.c
+2 -19
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@@ -66,7 +66,6 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
@@ -1187,7 +1186,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vtol_vehicle_status_s vtol_status;
struct time_offset_s time_offset;
struct mc_att_ctrl_status_s mc_att_ctrl_status;
struct control_state_s ctrl_state;
struct ekf2_innovations_s innovations;
struct camera_trigger_s camera_trigger;
struct vehicle_land_detected_s land_detected;
@@ -1293,7 +1291,6 @@ int sdlog2_thread_main(int argc, char *argv[])
int wind_sub;
int tsync_sub;
int mc_att_ctrl_status_sub;
int ctrl_state_sub;
int innov_sub;
int cam_trig_sub;
int land_detected_sub;
@@ -1336,7 +1333,6 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.wind_sub = -1;
subs.tsync_sub = -1;
subs.mc_att_ctrl_status_sub = -1;
subs.ctrl_state_sub = -1;
subs.innov_sub = -1;
subs.cam_trig_sub = -1;
subs.land_detected_sub = -1;
@@ -2071,8 +2067,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_WIND_MSG;
log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north;
log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east;
log_msg.body.log_WIND.cov_x = buf.wind_estimate.covariance_north;
log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east;
log_msg.body.log_WIND.cov_x = buf.wind_estimate.variance_north;
log_msg.body.log_WIND.cov_y = buf.wind_estimate.variance_east;
LOGBUFFER_WRITE_AND_COUNT(WIND);
}
@@ -2091,19 +2087,6 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_MACS.yaw_rate_integ = buf.mc_att_ctrl_status.yaw_rate_integ;
LOGBUFFER_WRITE_AND_COUNT(MACS);
}
/* --- CONTROL STATE --- */
if (copy_if_updated(ORB_ID(control_state), &subs.ctrl_state_sub, &buf.ctrl_state)) {
log_msg.msg_type = LOG_CTS_MSG;
log_msg.body.log_CTS.vx_body = buf.ctrl_state.x_vel;
log_msg.body.log_CTS.vy_body = buf.ctrl_state.y_vel;
log_msg.body.log_CTS.vz_body = buf.ctrl_state.z_vel;
log_msg.body.log_CTS.airspeed = buf.ctrl_state.airspeed;
log_msg.body.log_CTS.roll_rate = buf.ctrl_state.roll_rate;
log_msg.body.log_CTS.pitch_rate = buf.ctrl_state.pitch_rate;
log_msg.body.log_CTS.yaw_rate = buf.ctrl_state.yaw_rate;
LOGBUFFER_WRITE_AND_COUNT(CTS);
}
}
/* --- ATTITUDE --- */