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uuv_pos_control: remove practically unused manual control subscription

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This commit is contained in:
Matthias Grob
2022-06-24 10:05:16 -05:00
committed by Daniel Agar
parent 3a239ff649
commit cfd4e64b02
2 changed files with 0 additions and 13 deletions
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src/modules/uuv_pos_control/uuv_pos_control.cpp
-10
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@@ -195,16 +195,6 @@ void UUVPOSControl::Run()
}
}
/* Manual Control mode (e.g. gamepad,...) - raw feedthrough no assistance */
if (_manual_control_setpoint_sub.update(&_manual_control_setpoint)) {
// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
// returning immediately and this loop will eat up resources.
if (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_rates_enabled) {
/* manual/direct control */
}
}
/* Only publish if any of the proper modes are enabled */
if (_vcontrol_mode.flag_control_manual_enabled ||
_vcontrol_mode.flag_control_attitude_enabled) {